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Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
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Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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Predefined-Time Bounded Consensus of Multiagent Systems With Unknown Nonlinearity via Distributed Adaptive Fuzzy

Bing Mao, Xiaoqun Wu, Jinhu Lu

    IEEE Transactions on Cybernetics
    |April 15, 2022
    PubMed
    Summary

    This study introduces adaptive fuzzy control for leader-following multiagent systems (MASs) to achieve consensus in a predefined time, regardless of initial conditions. The control strategy ensures follower agents track the leader

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    Area of Science:

    • Control Systems Engineering
    • Artificial Intelligence
    • Robotics

    Background:

    • Multiagent systems (MASs) often face challenges with unknown nonlinearities and external disturbances.
    • Achieving consensus in MASs, where all agents align their states, is crucial for coordinated behavior.
    • Existing consensus algorithms may not guarantee convergence within a specific, predetermined time frame.

    Purpose of the Study:

    • To investigate uniformly predefined-time bounded consensus for leader-following MASs.
    • To develop distributed adaptive fuzzy control strategies to handle unknown system nonlinearities and disturbances.
    • To ensure follower agents achieve consensus with the leader within a settling time independent of initial conditions.

    Main Methods:

    • Analysis of uniformly predefined-time bounded stability and derivation of sufficient conditions for consensus.
    • Design of distributed adaptive fuzzy controllers for first-order MASs using neighboring consensus errors.
    • Formulation of filtered errors for second-order MASs to ensure bounded consensus errors via distributed controllers.

    Main Results:

    • Sufficient conditions for achieving semiglobally (globally) uniformly predefined-time bounded consensus were derived.
    • Controllers were designed to ensure follower agents track the leader's state within a predefined time for first-order MASs.
    • Second-order MASs demonstrated semiglobally uniformly predefined-time bounded leader-following consensus using filtered error-based controllers.

    Conclusions:

    • The proposed distributed adaptive fuzzy control effectively achieves uniformly predefined-time bounded consensus in leader-following MASs.
    • The settling time is independent of initial states and can be set beforehand, offering precise control.
    • Validated through simulations on first-order MASs and second-order Lagrangian systems (single-link manipulators).