Fuzzy Cooperative Output Regulation for Open Nonlinear Multiagent Systems
Xinmiao Liu, Zhuping Wang, Hao Zhang, Hao Yang Shen · IEEE Transactions on Fuzzy Systems · 2024
In this paper, the cooperative output regulation problem is investigated for heterogeneous nonlinear multi-agent systems allowing frequent arrivals and departures of agents. Inspired a generally switched systems with multi modes and multi dimensions, the migration of agents is described by a switched communication network, where the number of agents and the graph of topology could be simultaneously changed at the switching instant. In this paper, this switching topology is modeled as a quasi-mode-dependent persistent dwell time switched system with size-varying modes for more generalization. Furthermore, the assumption of existing a directed spanning tree can be removed during the special time interval with a limit on the maximum dwell time, which makes the stability analysis for such switching directed topology more challenging. Hence, a quasi-time-dependent Lyapunov function is utilized to construct a novel distributed reference generator, which can approach the exosystem in a globally uniformly exponential manner. And based on the Takagi-Sugeno fuzzy set theory, a fuzzy cooperative controller is developed for each agent to track the estimating signal. Finally, a multi-pendulum system is adopted to illustrate the feasibility and applicability of the derived results.