طراحی کنترلر فیدبک خروجی برای سیستم‌های چند عاملی با دینامیک ناهماهنگ در حضور نامعینی پارامتری و اغتشاش خارجی

نوع مقاله: مقاله پژوهشی

نویسندگان

1 کارشناس ارشد - شرکت انتقال گاز ایران، منطقه دو عملیات انتقال گاز، اصفهان، ایران

2 استادیار- دانشکده مهندسی برق و کامپیوتر، دانشگاه تربیت مدرس، تهران

چکیده

مطالعه حاضر به ردیابی عامل مرجع یک سیستم چندعاملی درون شبکه و متأثر از تأخیر زمانی بازه‌ای متغیر با زمان دارای نامعینی و در حضور اغتشاش می‌پردازد. در این مطالعه گراف ارتباطی بین عاملها، مستقیم فرض شده و با استفاده از یک روش تقسیم‌بندی بازه تأخیر، ضرایب غیرخطی‌ای که از نامعادله جنسن مشتق می‌گردند، تخمین زده شده و در نهایت با استفاده از روش‌های بهینه‌سازی محدب شرایط پایداری با کمترین محافظه کاری به دست می‌آیند. در این روش از فیدبک خروجی  به منظور ردیابی عامل مرجع و پایداری مقاوم سیستم حلقه بسته بهره گرفته شده است. با در نظر گرفتن اغتشاش و نامعینی در سیستم، استفاده از روش  در کنار طراحی فیدبک خروجی پویا به نتایج بهتر در ردیابی عامل مرجع منجر گردیده است که کارآیی  طراحی صورت گرفته در شبیه سازی‌ها مشهود است.

کلیدواژه‌ها


عنوان مقاله [English]

Output Feedback Controller Design for Multi-Agent Systems with Dynamic Heterogeneity in the Presence of Parameter Uncertainty and Exogenous Disturbances

نویسندگان [English]

  • Badrozaman Hosseini 1
  • Mehdi Sojoodi 2
1 MSc - Senior Engineer, Nigtcdist 2, Isfahan, Iran
2 Assistant Professor – Department of Electrical Engineering, Tarbiat Modares University
چکیده [English]

This paper is concerned with network based leader following consensus for a distributed multi agent system with interval time varying delays in the presence of uncertainty and disturbances. A network based consensus control protocol under a directed graph is proposed. The nonlinear time varying coefficients derived from Jenson's integral inequality is approximated with an estimation method. Finally with convex combination, less conservative stability criteria are provided. In this method, the output feedback H control is proposed to leader following consensus and robust stability of the closed loop system. In the presence of uncertainty and disturbances in the system, using H control along with dynamic output feedback controller has led to better results in tracking the reference signal. This study provides Hinf stability criteria in the forms of linear matrix inequalities (LMIs) and convex programming standard form. Numerical examples are given to show the effectiveness of the obtained theorems and results.

کلیدواژه‌ها [English]

  • LMI
  • Jenson's inequality
  • H∞ robust stability
  • dynamic output feedback
  • interval time varying delay
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