Designing Of Type-2 Fuzzy Formation Controller For A Class Of Nonlinear Multiagent System Using JAYA Algorithm
Arvin Attar, Mohammad Ali Badamchizadeh, Sehraneh Ghaemi · 2024
Nowadays, fuzzy sets have attracted a lot of attention in control systems. Type 2 fuzzy controllers (T2FCs) have replaced type 1 fuzzy controllers to solve the challenge of uncertainty in nonlinear systems. According to the various applications of multiagent systems (MASs) in control science, in this research, an adaptive type 2 fuzzy controller (AT2FC) with the gradient descent method has been designed for a class of nonlinear multi-agent system to arrange this nonlinear system in a leader-follower formation with the slightest error. Mamdani rules and different membership functions are used in this controller. Also, based on control science's use of meta-heuristic algorithms, the JAYA algorithm has been applied to this system to adjust and optimize the parameters of the adaptive rules of this controller. The simulation results have been analyzed on trajectory tracking performance and position control of three quadrotors, including one leader and two followers.