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کنترل زمان محدود سیستم‌های چندعاملی با روش مود لغزشی تطبیقی در حضور اغتشاش خارجی نامعلوم و شبکه ارتباطی غیر جهت‌دار | ||
| مکانیک هوافضا | ||
| مقاله 10، دوره 19، شماره 3 - شماره پیاپی 73، آذر 1402، صفحه 137-148 اصل مقاله (891.69 K) | ||
| نوع مقاله: گرایش دینامیک، ارتعاشات و کنترل | ||
| نویسنده | ||
| حسین چهاردولی* | ||
| استادیار، گروه مهندسی مکانیک، دانشکده فنی و مهندسی، دانشگاه آیت ا... بروجردی، بروجرد، ایران | ||
| تاریخ دریافت: 12 بهمن 1401، تاریخ بازنگری: 28 فروردین 1402، تاریخ پذیرش: 17 اردیبهشت 1402 | ||
| چکیده | ||
| در این مقاله، به کنترل زمان محدود سیستم‌های چندعاملی مرتبه 2 متشکل از یک رهبر و تعدادی پیرو تحت اغتشاش خارجی پرداخته می‌شود. شبکه ارتباطی عامل‌ها غیر جهت‌دار و فاصله بین آن‌ها ثابت در نظر گرفته می‌شود. هدف، طراحی یک کنترلر مود لغزشی تطبیقی مقاوم است که با تخمین زدن کران‌های بالا و پایین اغتشاش نه‌تنها پایداری زمان محدود سیستم را تضمین می‌کند، بلکه عدم افزایش دامنه خطای تعقیب بین عامل‌ها را نیز به همراه خواهد داشت. به این منظور، یک سطح لغزش جدید تعریف می‌گردد که با صفر شدن آن تحت کنترلر مدنظر، هر دو هدف فوق برآورده می‌شوند. از قضیه دوم لیاپانوف به‌منظور اثبات پایداری سیستم استفاده می‌شود و یک تابع لیاپانوف شعاعی نامحدود برحسب سطح لغزش جدید و خطاهای تخمین ارائه می‌گردد. بر اساس ساختار ارتباطی عامل‌ها، قوانین کنترلی و تطبیقی لازم برای منفی شدن مشتق تابع لیاپانوف به دست خواهند آمد. نتایج حاصله در قالب یک قضیه به همراه اثبات ارائه می‌شوند. به‌منظور اعتبارسنجی این روش، دو سناریو با حرکات متفاوت رهبر موردبررسی قرار می‌گیرند. نشان داده می‌شود که سیستم مزبور تحت روش کنترلی ارائه‌شده پایدار زمان محدود است و خطای تعقیب بین عامل‌ها به صفر می‌رسد. | ||
تازه های تحقیق | ||
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| کلیدواژه‌ها | ||
| سیستم چند عاملی؛ مود لغزشی تطبیقی؛ پایداری زمان محدود؛ اغتشاش خارجی؛ خطای موقعیت | ||
| عنوان مقاله [English] | ||
| Finite Time Adaptive Sliding Mode Control of Multi-agent Systems via Unknown External Disturbance and Undirected Network | ||
| نویسندگان [English] | ||
| Hossein Chehardoli | ||
| Assistant Professor, Department of Mechanical Engineering, Faculty of Engineering, Ayatollah Boroujerdi University, Boroujerd, Iran | ||
| چکیده [English] | ||
| In this paper, the finite time control of 2nd order multi-agent systems (MASs) consisting of a leader and a number of followers under external disturbance is discussed. The communication graph of agents is considered non-directional and the distance between them is considered constant. The goal is to design a robust adaptive sliding mode controller which, by estimating the upper and lower limits of the disturbance, not only ensures the finite time stability of the system, but also does not increase the tracking error range between the agents. For this purpose, a new slip surface is defined, which becomes zero under the considered controller, both of the above goals are met. The second Lyapunov theorem is used to prove the stability of the system and an unbounded radial Lyapunov function is presented in terms of the new slip surface and estimation errors. Based on the communication structure of the factors, the necessary control and adaptive rules will be obtained to make the derivative of the Lyapunov function negative. The results are presented in the form of a theorem with proof. In order to validate this method, two scenarios with different movements of the leader are examined. It is shown that the mentioned system is finite time stable under the presented control method and the tracking error between the agents reaches zero. | ||
| کلیدواژه‌ها [English] | ||
| Multi-agent systems (MAS), Adaptive sliding mode control, Finite time stabilization, External disturbance, Distance error | ||
| مراجع | ||
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آمار تعداد مشاهده مقاله: 174 تعداد دریافت فایل اصل مقاله: 188 |
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