Human-in-The-Loop Fuzzy Iterative Learning Control of Consensus for Unknown Mixed-Order Nonlinear Multi-Agent Systems
IEEE TRANSACTIONS ON FUZZY SYSTEMS(2024)
Abstract
This article studies the human-in-the-loop fuzzy iterative learning control of leader-following consensus for unknown mixed-order nonlinear multi-agent systems. The human operator participates in the cooperative control of multi-agent systems, which indirectly affects the followers by directly controlling the leader. Moreover, the leader's input is unknown to all followers. The mixed-order multi-agent systems contain both first- and second-order agents, which include the special case of the second-order multi-agent systems. By using fuzzy logic systems to approximate unknown nonlinear dynamics, a fully distributed fuzzy iterative learning controller with time-varying coupling gain is designed. In the estimation parameters, a sigma-modification related to the number of iterations is designed to ensure the convergence of the closed-loop systems. Based on the new composite energy function, the exact consensus of the closed-loop systems is proved. Finally, the simulation results verify the effectiveness of the designed control algorithm.
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Key words
Protocols,Multi-agent systems,Human in the loop,Mathematical models,Vehicle dynamics,Topology,Task analysis,Consensus,human-in-the-loop,iterative learning control (ITC),mixed-order dynamics,unknown multi-agent systems (MASs)
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