نوع مقاله : علمی پژوهشی

نویسندگان

1 دانشجوی دکتری، مهندسی برق، دانشگاه آزاد اسلامی واحد دماوند، تهران

2 دانشیار، گروه مهندسی برق، دانشکده فنی و مهندسی، دانشگاه قم، قم، ایران

3 دانشیار، دانشکده فناوری‌های نوین و مهندسی هوافضا، دانشگاه شهید بهشتی، تهران ، ایران.

چکیده

در این مقاله کنترل کننده به صورت محلی و با استفاده از اطلاعات عاملهای همسایه انجام گرفته و گراف مربوطه دارای درخت پوشا می باشد. در ضمن در طراحی کنترل کننده، از سیستمهای فازی بعنوان تقریبگر عمومی استفاده شده و پارامترهای سیستم فازی به گونه‌ای تنظیم شده که خطای ردیابی سیگنال مرجع هر عامل و پایداری از نوع محدود غایی یکنواخت سیستم حلقه بسته تضمین گردد. 1- غیر افاین بودن عاملهای سیستم چند عاملی، 2- نامعلوم بودن دینامیک عاملها، 3-همگرایی خطای ردیابی و خطای فرمیشن به سمت صفر، 4-استفاده از سیستمهای فازی به عنوان تخمین گر عمومی، از مزیت های متد ارائه شده از در این مقاله می باشد. در نهایت، در شبیه سازی های انجام شده بر روی کوادروتور، تحقق آرایش بندی رهبر- پیرو برای ماموریت مورد نظر صورت گرفته و با توجه به معیارهای تعیین شده، خطای مورد نظر قابل قبول می باشد.

کلیدواژه‌ها

موضوعات

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