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Author

Chao Peng

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Sep 2026

Tube-based robust model predictive control for robot manipulators with integral sliding mode residual error bounds.

Experimental results on a 6-DOF robotic manipulator demonstrate that the proposed TMPC method effectively compensates for uncertainties and handles sliding mode boundary layer residual errors, achieving high-precision robust trajectory tracking while ensuring adherence to state and torque constraints.

Jia-Wei Sun, Chao Peng, Jian-Xiao Zou et al. · 0 citations
Conference Aug 2026

Fast Convergent Distributed Task Reallocation Method for Dynamic Multi-Agent Systems

To address the problem that existing distributed task allocation methods for multi-agent systems hard to simultaneously achieve high allocation performance and fast responsiveness under dynamic changes in tasks and agent states, this paper proposes a task allocation method based on ownership-priority-driven task inclus...

Qi Zhou, Chao Peng, Chuan Xie et al. · 0 citations

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