Robust consensus control of cooperative transportation systems on uneven terrain

Payload stability and tracking accuracy are critical yet challenging issues in multi-AGV (Automated Ground Vehicle) cooperative transportation systems (CTSs) operating on 3D uneven terrain. This paper presents a robust control framework to address these challenges. First, an AGV equipped with an active end-effector is introduced to enhance payload stabilization capabilities within the CTS. A linear parameter-varying kinematic model is then formulated to describe the motions of both the AGV chassis and the end-effector. Second, a detailed analysis of CTS motion over uneven terrain reveals inherent coupling effects that lead to AGV skidding and slipping. To estimate the resulting errors, a fully connected feedforward neural network is employed. Third, an innovative robust H ∞ consensus controller is designed to improve both payload stability and tracking accuracy under terrain-induced disturbances. Finally, high-fidelity simulations in CoppeliaSim validate the effectiveness of the proposed control strategy. Results demonstrate a significant reduction in payload angular fluctuations and enhanced tracking accuracy across various uneven terrain scenarios.