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Adaptive fuzzy wavelet network control of second order multi-agent systems with unknown nonlinear dynamics
Mehdi Taheri1, Farid Sheikholeslam1, Majddedin Najafi2
1Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran.
ISA Transactions
|April 26, 2017
Summary
This study presents a new distributed control strategy using adaptive fuzzy wavelet networks to solve consensus problems in second-order multi-agent systems with unknown nonlinear dynamics, achieving stable system performance.
Area of Science:
- Control Systems Engineering
- Artificial Intelligence
- Networked Systems
Background:
- Consensus is crucial for coordinated behavior in multi-agent systems.
- Second-order systems and unknown nonlinear dynamics present significant control challenges.
- Distributed control strategies are essential for scalable multi-agent coordination.
Purpose of the Study:
- To develop a novel distributed control strategy for second-order multi-agent systems with unknown nonlinear dynamics.
- To address consensus problems in both leaderless and leader-following configurations.
- To enhance robustness against uncertainties using adaptive fuzzy wavelet networks.
Main Methods:
- A distributed control strategy based on adaptive fuzzy wavelet networks (AFWNs).
- Application of AFWNs to approximate and compensate for unknown nonlinear dynamics.
- Utilizing Lyapunov functions to guarantee stability and derive adaptive laws.
- Extension of the method to leader-following systems and systems with state time delays.
Main Results:
- The proposed adaptive fuzzy wavelet network approach effectively compensates for unknown nonlinear dynamics.
- Uniformly ultimately bounded stability of the closed-loop systems is proven.
- The control strategy is validated for leaderless, leader-following, and leader-following with time-delay systems.
- Simulation examples demonstrate the effectiveness of the developed control algorithms.
Conclusions:
- The novel distributed control strategy effectively solves the consensus problem for second-order multi-agent systems under challenging conditions.
- Adaptive fuzzy wavelet networks provide a robust solution for handling unknown nonlinear dynamics.
- The proposed methods offer a promising approach for advanced multi-agent system coordination.
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