Colección INTI-SNRD

Título: Limbic system-inspired performance-guaranteed control for nonlinear multi-agent systems with uncertainties
Fuente: IEEE Transactions on Neural Networks and Learning Systems, Vol. 34, no. 1
Autor/es: Rubio Scola, Ignacio; Rodolfo Garcia Carrillo, Luis; Hespanha, João P.
Materias: Incertidumbre; Estabilidad; Perturbación; Equipos de control
Editor/Edición: IEEE Computational Intelligence Society; 2023
Afiliaciones: Rubio Scola, Ignacio. Universidad Nacional de Rosario. Ingeniería y Agrimensura. Facultad de Ciencias Exactas. Department of Mathematics. CIFASIS (UNR-FCEIA); Argentina
Rubio Scola, Ignacio. (CONICET); Argentina
Rodolfo Garcia Carrillo, Luis. New Mexico State University. Klipsch School of Electrical and Computer Engineering; Estados Unidos
Hespanha, João P. University of California. Center for Control, Dynamical Systems, and Computation; Estados Unidos

Resumen: We introduce a performance–guaranteed Limbic System–Inspired Control (LISIC) strategy for nonlinear multi– agent systems (MAS) with uncertain high-order dynamics and ex- ternal perturbations, where each agent in the MAS incorporates a LISIC structure to support the consensus controller. This novel approach, which we call Double Integrator LISIC (DILISIC), is designed to imitate double integrator dynamics after closing the agent–specific control loop, allowing the control designer to apply consensus techniques specifically formulated for double integrator agents. The objective of each DILISIC structure is then to identify and compensate model differences between the theoretical assumptions considered when tuning the consensus protocol and the actual conditions encountered in the real–time system to be controlled. A Lyapunov analysis is provided to demonstrate the stability of the closed-loop MAS enhanced with the DILISIC. Additionally, the stabilization a complex system via DILISIC is addressed in a synthetic scenario: the consensus control of a team of flexible single-link arms. The dynamics of these agents are of fourth order, contain uncertainties, and are subject to external perturbations. The numerical results validate the applicability of the proposed method.