کنترل فازی مد لغزشی ترمینال برای سیستم‌های چند عاملی غیر خطی رهبر-پیرو
محورهای موضوعی : آمارنگار ایزدی 1 * , محمد تقی دستجردی 2
1 - گروه ریاضی، دانشکده علوم، دانشگاه زنجان، زنجان، ایران
2 - گروه ریاضی، دانشکده علوم، دانشگاه زنجان، زنجان، ایران
کلید واژه: Fuzzy Controller, Multi-Agent System, Consensus, Terminal Sliding Mode Control,
چکیده مقاله :
در این مقاله، ما یک کنترل‌کننده مد لغزشی فازی ترمینال را برای سیستم‌های چند عاملی رهبر-پیرو غیر خطی مرتبه دوم که دارای عدم قطعیت می‌باشند ارائه می‌کنیم. ابتدا یک کنترل‌کننده مدلغزشی ترمینال را معرفی می‌کنیم که نه تنها سریع و نامنفرد است، بلکه باعث می‌شود خطای ردیابی در زمان متناهی روی سطح لغزشی به نقطه‌ی تعادل صفر برسد. علاوه بر این، به‌منظور از بین بردن پدیده چترینگ، یک کنترل‌کننده فازی برپایه اصول مد لغزشی ترمینال نیز پیشنهاد شده است. کنترل کننده مد لغزشی ترمینال فازی پیشنهادی شرط اجماع را نیز برای سیستم چند عاملی رهبر-پیرو برآورده می‌کند و سیستم نیز به‌مفهوم لیاپانوف به پایداری می‌رسد. یک مزیت عمده کنترل‌کننده ارائه شده در این مقاله این است که اگر مقدار خطای اولیه زیاد باشد نیز سیستم در زمان کوتاهی روی سطح لغزشی به نقطه تعادل می‌رسد. مثال ارائه شده در این مقاله و نتابج شبیه‌سازی درستی این مطلب را تایید می‌کنند
In this article, we present a terminal fuzzy sliding mode controller (TFSMC) for second order nonlinear uncertain leader follower multi agent systems. First, we propose a terminal sliding mode controller that is not only fast and non-singular, but also has a finite time condition in the reaching and sliding phases. Then, in order to eliminate chattering phenomena, a fuzzy sliding mode method is proposed and the stability of the closed-loop system in the lyapunove sense has been guaranteed. According to the communication graph topology and the Lyapunov stability condition, the proposed fuzzy terminal sliding mode controller satisfies the consensus condition in second-order nonlinear multiagent leader-follower systems. One of the main advantages of the controller presented in this article is that even if the initial error value is large, the system will reach equilibrium in a short period of time on the sliding surface. Finally, the advantages of the proposed theoretical approach are illustrated by the simulation results.
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