Adaptive Fuzzy Consensus Tracking Control for Nonlinear Multiagent Systems with Time-Varying Delays and Constraints

This paper proposes an adaptive fuzzy distributed consensus tracking control scheme for a class of uncertain nonlinear dynamic multiagent systems (MASs) with state time-varying delays and state time-varying constraints. The existing controllers with Lyapunov–Krasovskii functions (LKFs) were not suitable to address time-varying delays and time-varying constraints in nonlinear MASs simultaneously. State constraints further increase the difficulty of controller design and stability analysis, especially for nonstrict feedback systems. Fuzzy logic systems (FLSs) tackle the approximation of unknown dynamics functions and parameters. Especially when the distributed consensus tracking error is infinitely close to the origin, although there is no singular value, it would lead to the rapid growth of control rate or uncontrollability. Constructing appropriate piecewise functions can effectively avoid the above occurrence and accelerate convergence. Based on Lyapunov stability theory and algebraic graph theory, the constructed tracking control can ensure states within defined time-varying constraint bounds and eliminate the influence of time delays. All signals in closed-loop systems can be guaranteed semiglobally uniformly ultimately bounded (SUUB). Finally, the validity of the theoretical method is verified by the simulation.

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Distributed consensus tracking control for nonlinear multiagent systems with state delays and unknown control coefficients

International Journal of Robust and Nonlinear Control ◽

10.1002/rnc.5924 ◽

2021 ◽

Author(s):

Wenting Wang ◽

Zhengrong Xiang

Keyword(s):

Multiagent Systems ◽

Tracking Control ◽

Distributed Consensus ◽

State Delays ◽

Consensus Tracking ◽

Unknown Control Coefficients ◽

Unknown Control ◽

Control Coefficients

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Consensus Tracking of Multiagent Systems with Time-Varying Reference State and Exogenous Disturbances

Mathematical Problems in Engineering ◽

10.1155/2014/213862 ◽

2014 ◽

Vol 2014 ◽

pp. 1-7

Author(s):

Hong-yong Yang ◽

Hai-lin Zou ◽

Hui-xia Liu ◽

Fei Liu ◽

Mei Zhao ◽

...

Keyword(s):

Multiagent Systems ◽

Tracking Control ◽

Path Following ◽

Reference State ◽

Time Varying ◽

Switching Topologies ◽

Consensus Tracking ◽

Exogenous Disturbance ◽

Exogenous Disturbances ◽

Path Following Algorithm

The tracking control of multiagent dynamical systems with exogenous disturbances is studied. A path following algorithm with a time-varying reference state is proposed, and the path tracking of multiagent systems with exogenous disturbance is analyzed. Under the influence of the disturbances, a disturbance observer is developed to estimate the exogenous disturbances. Asymptotical consensus of the multiagent systems with time-varying reference state and exogenous disturbances under the disturbance observers-based control (DOBC) can be achieved for fixed and switching topologies. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the consensus tracking of multiagent systems with time-varying reference state is reached under the DOBC with the designed parameters.

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Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems

Cybernetics and Information Technologies ◽

10.1515/cait-2015-0004 ◽

2015 ◽

Vol 15 (1) ◽

pp. 34-45

Author(s):

Sanxiu Wang ◽

Kexin Xing ◽

Zhengchu Wang

Keyword(s):

Tracking Control ◽

Mimo Systems ◽

Tracking Error ◽

Approximation Error ◽

Nonlinear Function ◽

Robust Tracking ◽

Robust Tracking Control ◽

Fuzzy Logic Systems ◽

Adaptive Fuzzy ◽

Control Scheme

Abstract In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems. Firstly, fuzzy logic systems are introduced to approximate the unknown nonlinear function of the system by an adaptive algorithm. Next, a H∞ robust compensator controller is employed to eliminate the effect of the approximation error and external disturbances. Consequently, a fuzzy adaptive robust controller is proposed, such that the tracking error of the resulting closed-loop system converges to zero and the tracking robustness performance can be guaranteed. The simulation results performed on a two-link robotic manipulator demonstrate the validity of the proposed control scheme.

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Design of Adaptive Fuzzy Control for a Class of Networked Nonlinear Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4034947 ◽

2017 ◽

Vol 139 (3) ◽

Cited By ~ 9

Author(s):

Mohamed Hamdy ◽

Sameh Abd-Elhaleem ◽

M. A. Fkirin

Keyword(s):

Nonlinear Systems ◽

Fuzzy Controller ◽

External Disturbance ◽

Tracking Error ◽

Adaptive Fuzzy Control ◽

Time Varying ◽

Fuzzy Logic Systems ◽

Packet Losses ◽

Adaptive Fuzzy Controller ◽

Adaptive Fuzzy

This paper presents an adaptive fuzzy controller for a class of unknown nonlinear systems over network. The network-induced delays can degrade the performance of the networked control systems (NCSs) and also can destabilize the system. Moreover, the seriousness of the delay problem is aggravated when packet losses occur during a transmission of data. The proposed controller uses a filtered tracking error to cope the time-varying network-induced delays. It is also robust enough to cope some packet losses in the system. Fuzzy logic systems (FLSs) are used to approximate the unknown nonlinear functions that appear in the tracking controller. Based on Lyapunov stability theory, the constructed controller is proved to be asymptotically stable. Stability of the adaptive fuzzy controller is guaranteed in the presence of bounded external disturbance, time-varying delays, and data packet dropouts. Simulated application of the inverted pendulum tracking illustrates the effectiveness of the proposed technique with comparative results.

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