طراحی کنترل‌کننده اجماع فازی مد لغزشی برای رده خاصی از سیستم‌های چند عاملی غیر‌خطی رهبر-پیرو

نوع مقاله : مقاله پژوهشی

نویسندگان

گروه ریاضی، دانشکده علوم، دانشگاه زنجان، زنجان، ایران

چکیده

در این مقاله، ما یک کنترل‌کننده مد لغزشی فازی را برای رده خاصی از سیستم‌های چند عاملی رهبر-پیرو که دینامیک تمام عوامل پیرو و عامل رهبر، غیر خطی و مرتبه دوم است ارائه می کنیم. کنترل‌کننده فازی مد لغزشی ارائه شده بر پایه ابر صفحه جداکننده است که باعث می شود همه عوامل در سیستم‌های چند عاملی شرط اجماع را برآورده سازند. همچنین کنترل‌کننده فازی ارائه شده فاقد پدیده چترینگ است و سیستم نیز به مفهوم لیاپانوف به پایداری می رسد. یک مزیت عمده کنترل‌کننده ارائه شده در این مقاله این است که بردار حالت هریک از عوامل خیلی سریع به سطح لغزشی می رسند و روی سطح باقی می مانند. مثال‌های ارائه شده در این مقاله و نتابج شبیه‌سازی درستی این مطلب را تایید می کنند.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Design of a Sliding Mode Fuzzy Consensus Controller for a Special class of Leader-Follower Nonlinear Multi-Agent Systems

نویسندگان [English]

  • Negar Izadi
  • Mohammad Taghi Dastjerdi
Department of Mathematics, Faculty of Science, University of Zanjan, Zanjan, Iran
چکیده [English]

In this paper, we propose a fuzzy sliding mode controller (FSMC) for Multi-agent Systems (MAS) and investigate the leader-follower consensus problem for the network of nonlinear dynamic agents with an undirected graph topology. A new sliding mode controller is suggested to address the consensus problem in MASs. The proposed sliding mode controller is based on a separating hyperplane. In addition, a fuzzy controller is designed to eliminate the chattering phenomenon. According to the communication graph topology and the Lyapunov stability condition, the proposed FSMC satisfies the consensus condition. As an advantage of the control presented in this paper, the states of the system reach the sliding surface very quickly and remain on the surface. The advantage of the proposed approach is also illustrated by simulation results.

کلیدواژه‌ها [English]

  • Consensus
  • Fuzzy Controller
  • Multi-Agent System
  • Sliding Mode Control
  • Stability
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