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Cooperative Control Of Uncertain Nonlinear Multi-agent Systems

Posted on:2016-10-22Degree:DoctorType:Dissertation
Country:ChinaCandidate:W WangFull Text:PDF
GTID:1108330482476354Subject:Control theory and control engineering
Abstract/Summary:PDF Full Text Request
In recent years, cooperative control of multi-agent systems has been a central research problem in the field of control. Since uncertainties and nonlinearties do exist in practical control systems, it is of great significance to investigate cooperative control of uncertain nonlinear multi-agent systems. Consensus and containment are two fundamental problems in cooperative control of multi-agent systems. This dissertation focuses on both the conesusus and containment control of uncertain nonlinear multi-agent systems. The main contributions of this dissertation are summarized as follows:1. The output feedback conensus problem is studied for uncertain nonlinear multi-agent systems with matching conditions. Fuzzy logic systems (FLSs) are utilized to approximate the unknown nonlinear functions and fuzzy observers are designed to estimate the unmeasurable states. Then, by employing graph theory and matrix theory, controllers are designed to guarantee the consensus of the uncertain nonlinear multi-agent systems. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed consensus algorithm.2. The output feedback conensus problem is studied for uncertain nonlinear multi-agent systems with unmatched conditions. FLSs are utilized to approximate the unknown nonlinear functions and fuzzy observers are designed to estimate the unmeasurable states. Then, by employing graph theory and the dynamic surface control (DSC) technique, controllers are designed to guarantee the consensus of the uncertain nonlinear multi-agent systems in the presence of input saturation. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed consensus algorithm.3. The containment control problem is studied for uncertain nonlinear multi-agent systems with matching conditions. By using FLSs to approximate the unknown nonlinear functions and combining graph theory with matrix theory, controllers are designed to guarantee that the states of the uncertain nonlinear multi-agent systems converge to the desired region. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed containment algorithm.4. The containment control problem is studied for uncertain nonlinear multi-agent systems with unmatched conditions. By using FLSs to approximate the desired control laws and combining graph theory with the DSC technique, controllers are designed to guarantee that the outputs of the uncertain nonlinear multi-agent systems converge to the desired region. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed containment algorithm.5. The consenus control problem is investigated for uncertain nonlinear multi-agent systems with matching conditions in the presence of agent faults. By utilizing FLSs to approximate the unknown nonlinear functions and fault estimators to identify the faults, controllers are proposed based on graph theory and matrix theory to realize the consensus of the uncertain nonlinear multi-agent systems. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed fault-tolerant control algorithm.6. The containment control problem is investigated for uncertain nonlinear multi-agent systems with unmatched conditions in the presence of actuator faults. By utilizing fuzzy approximation and the DSC technique, a proportional-actuation fault-tolerant control scheme is proposed to realize the containment of the uncertain nonlinear multi-agent systems. Then, the prescribed performance control technique is employed in the fault-tolerant control design to realize the containment of the uncertain nonlinear multi-agent systems and the error surfaces stay in the prescribed bounds; i.e., both transient and steady performances of the systems can be guaranteed. The stability of the closed-loop networked systems is proved based on Lyapunov stability theory. Simulation results are provided to verify the effectiveness of the proposed fault-tolerant algorithms.
Keywords/Search Tags:Uncertain Nonlinear Multi-agent Systems, Fuzzy Logic System, Dynamic Surface Control, Consensus Control, Containment Control, Fault- tolerant Control, Observer, Prescribed Performance
PDF Full Text Request
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