Collaborative control for modular transport vehicles: dynamic mechanism and uncertainty

This paper addresses the collaborative control of Modular Transport Vehicles under significant uncertainties. A systematic constraint-following approach is developed to resolve two intertwined challenges: compatibility between subsystem-specific and interconnection constraints, and robust performance against uncertain dynamics. First, a two-level constraint-handling mechanism is proposed, where sufficient conditions for simultaneous constraint satisfaction are rigorously derived, thus preventing constraint conflicts theoretically. Second, a unified modular dynamic model incorporating parametric uncertainties is established, facilitating system reconfiguration. Third, a leakage-type adaptive robust cooperative controller is designed to handle time-varying uncertainties without requiring a priori bound knowledge. The verification results demonstrate the controller's superiority over conventional sliding-mode control in suppressing chattering, accelerating convergence, and improving steady-state accuracy.