Adaptive Fuzzy Fixed Time Time-Varying Formation Control for Heterogeneous Multiagent Systems With Full State Constraints

Hou, Han‐Qian; Liu, Lei; Lan, Jie

doi:10.1109/tfuzz.2022.3195609

Cited by 33 publications

(9 citation statements)

References 39 publications

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“…Remark According to Reference 32, it can be seen that the convergence time bound of fixed‐time, which is only determined by design parameters. However, the existing results suffer from two main problems.…”

Section: Vehicle Dynamics and Research Issuesmentioning

confidence: 99%

Adaptive fuzzy predefined‐time fault‐tolerant control for third‐order heterogeneous vehicular platoon systems

Zhao

2023

Intl J Robust & Nonlinear

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This article investigates an adaptive fuzzy predefined-time fault-tolerant control problem for third-order heterogeneous vehicular platoon systems (HVPS) with actuator faults. For the purpose of approximating the unknown nonlinear functions, fuzzy logic systems (FLSs) are used. Because the maximum acceleration changes as a result of actuator faults, a quadratic spacing strategy including fault factor is considered. A predefined-time fault-tolerant controller is designed to address the impact of actuator faults. The proposed method makes use of the non-singular terminal sliding mode control (SMC) approach and predefined time stability criterion. Individual vehicle stability, string stability (SS), and traffic flow stability are all guaranteed in a predefined time. Finally, simulations illustrate the usefulness of the given results. K E Y W O R D Spredefined-time fault-tolerant control, quadratic spacing policy, sliding mode control, third-order heterogeneous vehicular platoon system 1 4422

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Section: Vehicle Dynamics and Research Issuesmentioning

confidence: 99%

Adaptive fuzzy predefined‐time fault‐tolerant control for third‐order heterogeneous vehicular platoon systems

Zhao

2023

Intl J Robust & Nonlinear

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“…Lemma 3 ( [38], [39]): Let f (Z) be a continuous function on a compact set Ω ∈ n , there exists a fuzzy logic system, i.e., w T Φ(Z), such that…”

Section: W H ]mentioning

confidence: 99%

“…Adaptive fuzzy logic controllers have also been developed to take the knowledge of human about the dynamic system into the design to increase the approximation performance of the FLC [36], [37]. Adaptive fixed-time FLCs have been developed to preserve the advantages of both fixed-time convergence property and the approximation capacity of FLC in [38], [39]. However, the adaptive laws of the existing fixedtime FLCs do not provide fixed-time convergence for the system.…”

Section: Introductionmentioning

confidence: 99%

“…• Unlike the existing distributed consensus formation controllers for multiple AUV systems [15], this paper develops a fixed-time distributed formation algorithm for AUVs using a backstepping SMC method to preserve the merits of Lyapunov stability of the backstepping control, high robustness of SMC and bounded convergence time of the fixed-time control theory. • Unlike the existing adaptive fixed-time fuzzy controllers [38], [39], which do not guarantee a fixed time convergence for the adaptive laws of FLC, this paper develops a new adaptive fixed time fuzzy law to guarantee the fixed time convergence of the adaptive weights of FLC. This ensures a global fixed time convergence of the whole collaborative multiple AUVs system.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Fixed-Time Consensus Control for Multiple AUV Systems with Input Saturations

Van¹,

Sun²,

Mcllvanna³

et al. 2023

Preprint

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This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control protocol based on a fixed-time backstepping sliding mode control is designed, in which the consensus cooperative tracking errors for each AUV will be formulated. Then, to compensate for the saturated control torques, an adaptive auxiliary variable is introduced. Finally, a fixed-time adaptive fuzzy logic control (FLC) is derived to approximate the unknown dynamics, in which the adaptive laws of the FLC is derived such that the adaptive signals and errors can be convergent within a fixed time. The fixed time convergence is desired in practice because it provides an exciting property that the global convergence of the whole system is independent with the initial states of the AUVs. The computer simulation results for a consensus formation control of four AUVs show that the proposed formation control can provide high tracking performance with lower and smoother control efforts.

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“…Note that HMASs are more complex than MASs and therefore easier to bring about faults, in this way, studying FTC of HMASs is more valuable 17,18 . Based on the fuzzy approximation and distributed FTC, two design methods are provided in References 19 and 20 for nonlinear unknown dynamics HMASs with actuator faults. In Reference 21, a novel distributed cooperative fault‐tolerant tracking controller is proposed for nonlinear system with unknown and time‐varying functions and actuator and amplifier faults.…”

Section: Introductionmentioning

confidence: 99%

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

Hou

Liu

Lan

et al. 2022

Adaptive Control & Signal

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This article studies the fixed-time time-invariant formation control problem for a class of uncertain nonlinear heterogeneous multi-agent systems (HMASs) with actuator faults and partial unknown control directions. Throughout the formation process, the possibility of actuator faults in systems and unknown control directions between individual agents are taken into account. Lipschitz conditions are introduced to identify the continuous uncertain nonlinear functions. To estimate the agents' local immeasurable states in HMASs, a distributed fixed-time observer is proposed, which can ensure that the states of follower agents are observed in fixed time. In addition, a distributed formation fault-tolerant control scheme will handle actuator faults. By designing a Nussbaum function, the problem of partial unknown control directions for HMASs can be solved in fixed time. Based on the fixed time stability theory, it is proved that the closed-loop stability and the tracking performance can be guaranteed in fixed time, that is, the achieved time is independent of any initial states. In the end, a simulation example is given to testify the effectiveness of the proposed control method. K E Y W O R D Sfault-tolerant control, fixed time partial unknown control directions, heterogeneous multi-agent systems, time-invariant formation

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Adaptive Fuzzy Fixed Time Time-Varying Formation Control for Heterogeneous Multiagent Systems With Full State Constraints

Cited by 33 publications

References 39 publications

Adaptive fuzzy predefined‐time fault‐tolerant control for third‐order heterogeneous vehicular platoon systems

Adaptive fuzzy predefined‐time fault‐tolerant control for third‐order heterogeneous vehicular platoon systems

Distributed Fixed-Time Consensus Control for Multiple AUV Systems with Input Saturations

Fixed time formation control for heterogeneous multi‐agent systems with partial unknown control directions

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