NDLI: Distributed fuzzy tracking for multi-agent systems

Content Provider	IEEE Xplore Digital Library
Author	Kladis, G.P. Menon, P.P. Edwards, C.
Copyright Year	2011
Description	Author affiliation: Control Group, Department of Engineering, University of Leicester, University Road, LE1 7RH, United Kingdom (Kladis, G.P.; Edwards, C.) \|\| Centre for Systems, Dynamics & Control, Mathematical Research Institute, University of Exeter, The Queen's Dr, Devon, EX4 4QJ, United Kingdom (Menon, P.P.)
Abstract	This paper proposes a systematic analysis for a stabilisation/tracking problem in a network of nonlinear systems. A reasonably general class of nonlinear systems is considered in their equivalent Takagi-Sugeno (TS) representation. Due to the structure, properties and reduced mathematical complexity of the TS approach, a decoupling of the network into node level dynamics is achieved which simplifies the stability analysis and the design of a control law. A distributed control law is introduced which is composed of both node and network level information. The design involves two stages. Firstly feedback gains are synthesized for the isolated agents ignoring interconnections. Then utilising a common Lyapunov matrix, from the first step, using the relative differences in the states of the agents at network level, co-operative behaviour among the agents is introduced. This is all performed subject to design criteria, posed as Linear Matrix Inequalities (LMIs). The benefits of this analysis is that the design of the controller is decoupled from the size and topology of the network, and it allows a convenient choice of feedback gains for the term that is based on the relative state information. An illustrative example is included to outline the potential of the analysis.
Starting Page	798
Ending Page	803
File Size	698411
Page Count	6
File Format	PDF
ISBN	9781457711046
ISSN	21589879
e-ISBN	9781457711039
DOI	10.1109/ISIC.2011.6045411
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Artificial intelligence Facsimile
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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