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Since the MEHAs system has many unknown uncertainties and communication delays, a terminal sliding mode observer (TSMO) is used to address hydraulic parametric uncertainties and load disturbance. Furthermore, one synchronized controller is designed by Lyapunov-Krasovskii method with backstepping iteration to ensure the synchronized errors of the MEHAs system converging to a zero neighborhood. Since some follower EHAs cannot directly acquire the position signal from the leader node, a demand estimation law is used to degrade the negative effect of unknown communication delay existed in the network topology. Finally, the effectiveness of the proposed synchronized controller is verified by a MEHAs platform with finite hydraulic nodes under constant and random communication delays.<\/jats:p>","DOI":"10.1177\/09596518241301827","type":"journal-article","created":{"date-parts":[[2024,12,26]],"date-time":"2024-12-26T23:51:10Z","timestamp":1735257070000},"page":"856-869","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Distributed synchronous control of multiple electrohydraulic actuators with lumped uncertainty and communication delay"],"prefix":"10.1177","volume":"239","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0522-1243","authenticated-orcid":false,"given":"Qing","family":"Guo","sequence":"first","affiliation":[{"name":"School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xing","family":"Ren","sequence":"additional","affiliation":[{"name":"School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2088-9778","authenticated-orcid":false,"given":"Jiange","family":"Kou","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dan","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,12,26]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2021.3103807"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2873256"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.3034923"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2265312"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2018.2854699"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3236114"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2022.3159537"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2278958"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2013.2256136"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2022.3141463"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2024.105931"},{"key":"e_1_3_2_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3429638"},{"key":"e_1_3_2_14_2","first-page":"6698","volume-title":"Proc. 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