Cooperative Time-Varying Formation Fuzzy Tracking Control of Multiple Heterogeneous Uncertain Marine Surface Vehicles With Actuator Failures.

This article addresses the cooperative time-varying formation fuzzy tracking control problem for a cluster of heterogeneous multiple marine surface vehicles subject to unknown nonlinearity and actuator failures. The proposed cooperative control scheme consists of two parts: 1) a distributed time-varying formation observer and 2) a decentralized adaptive fuzzy tracking controller. The distributed observer is designed to obtain a predefined time-varying formation pattern under a directed communication topology. Subsequently, based on the states of the distributed observer, a decentralized fuzzy tracking control law is developed using fuzzy-logic systems and the adaptive approach. Lyapunov functions are constructed to guarantee that the controlled marine vehicles attain the desired time-varying formation with asymptotical stability of tracking errors. Finally, simulation results are presented to validate the efficacy of the proposed control methodology.

Asynchronous Control of 2-D Markov Jump Roesser Systems With Nonideal Transition Probabilities.

This article intends to study the asynchronous control problem for 2-D Markov jump systems (MJSs) with nonideal transition probabilities (TPs) under the Roesser model. Two practical considerations motivate the current work. First, considering that the system mode cannot always be observed accurately, a hidden Markov model (HMM) is adopted to describe the relationship between the mismatched modes. Second, considering that the TPs information related to the Markov process and the observation process is difficult to obtain, the nonideal TPs (unknown or uncertain) are simultaneously considered on the two processes. Under the considerations, several new sufficient conditions are developed for concerned closed-loop 2-D MJSs with nonideal TPs, by which the asymptotic mean square stability is ensured with an H∞ performance index. A nonconservative separation strategy is utilized to decouple the system mode TPs and the observation TPs to facilitate the analysis of nonideal TPs. An unified LMI-based condition is finally developed for the concerned closed-loop 2-D MJSs with/without nonideal TPs, showing more satisfactory conservatism than that in the literature. In the end, we present two examples to validate the superiority of the proposed design method.

Extended Dissipative Sliding-Mode Control for Discrete-Time Piecewise Nonhomogeneous Markov Jump Nonlinear Systems.

This article analyzes the problem of the sliding-mode control (SMC) design for discrete-time piecewise nonhomogeneous Markov jump nonlinear systems (MJNSs) subject to an external disturbance with time-varying transition probabilities (TPs). A discrete-time asynchronous integral sliding surface is constructed, which yields matched-nonlinearity-free sliding-mode dynamics (SMDs). Then, by using the mode-dependent Lyapunov function technique, a sufficient condition is established for ensuring the stochastic stability of SMD with extended dissipation. The solution to designing controller gains is obtained. Moreover, an SMC law and an adaptive law are, respectively, derived for driving the system trajectories to move into a predetermined sliding-mode region with specified precision. Finally, the feasibility and effectiveness of the new design are verified and demonstrated by a simulation example.

Quantized Fuzzy Cooperative Output Regulation for Heterogeneous Nonlinear Multiagent Systems With Directed Fixed/Switching Topologies.

This article investigates the cooperative output regulation problem for heterogeneous nonlinear multiagent systems subject to disturbances and quantization. The agent dynamics are modeled by the well-known Takagi-Sugeno fuzzy systems. Distributed reference generators are first devised to estimate the state of the exosystem under directed fixed and switching communication graphs, respectively. Then, distributed fuzzy cooperative controllers are designed for individual agents. Via the Lyapunov technique, sufficient conditions are obtained to guarantee the output synchronization of the resulting closed-loop multiagent system. Finally, the viability of proposed design approaches is demonstrated by an example of multiple single-link robot arms.

Cooperative Output Regulation Quadratic Control for Discrete-Time Heterogeneous Multiagent Markov Jump Systems.

This article investigates the cooperative output regulation problem for discrete-time heterogeneous multiagent Markov jump systems. Two cases are studied: 1) output regulation quadratic control in the case where the exosystem is accessible to all agents and 2) cooperative output regulation quadratic control in the case where only a part of agents can directly communicate with the exosystem. The hidden Markov models are employed to describe the asynchronous modes of the agents and their corresponding controllers. Via the jumping regulator equation, asynchronous control laws are constructed and the algorithms to obtain control parameters are presented in terms of linear matrix inequalities. For the first case, the optimal synchronous/mode-dependent control law, which is a special case of the asynchronous control protocol, is also given via the stochastic dynamic programming approach. Finally, an example is given to illustrate the effectiveness of the proposed approaches.

Observer-Based Distributed Mean-Square Consensus Design for Leader-Following Multiagent Markov Jump Systems.

This paper addresses the mean-square leader-follower consensus problem for the multiagent Markov jump linear systems. The leader has the general linear dynamics while the followers are subject to parameter changes modeled by Markov jump. By using the output measurement of the leader, two types of observers, namely, the common observer and the distributed adaptive observer, are first constructed together to estimate the leader state. Then based on the estimated state and the follower self information, two kinds of controllers, namely, the synchronous controller and the asynchronous controller, are designed to achieve the mean-square leader-follower consensus. Finally, the simulation results are given to illustrate the feasibility and effectiveness of the proposed approaches.

Dissipativity-Based Asynchronous Fuzzy Sliding Mode Control for T-S Fuzzy Hidden Markov Jump Systems.

This paper investigates the problem of dissipativity-based asynchronous fuzzy integral sliding mode control (AFISMC) for nonlinear Markov jump systems represented by Takagi-Sugeno (T-S) models, which are subject to external noise and matched uncertainties. Since modes of original systems cannot be directly obtained, the hidden Markov model is employed to detect mode information. With the detected mode and the parallel distributed compensation approach, a suitable fuzzy integral sliding surface is devised. Then using Lyapunov function, a sufficient condition for the existence of sliding mode controller gains is developed, which can also ensure the stochastic stability of the sliding mode dynamics with a satisfactory dissipative performance. An AFISMC law is proposed to drive system trajectories into the predetermined sliding mode boundary layer in finite time. For the case with unknown bound of uncertainties, an adaptive AFISMC law is developed as well. The studied T-S fuzzy Markov jump systems involve both continuous-time and discrete-time domains. Finally, some simulation results are presented to demonstrate the applicability and effectiveness of the proposed approaches.

Dissipativity-Based Control for Fuzzy Systems With Asynchronous Modes and Intermittent Measurements.

In this paper, the problem of asynchronous output feedback control is investigated for a class of Takagi-Sugeno fuzzy switched systems subject to intermittent measurements. The Bernoulli process is employed to model the phenomenon of stochastic intermittent measurements. Based on the hidden Markov model and output measurements, an asynchronous controller is designed. Then, sufficient conditions for the existence of an asynchronous controller are proposed, which ensure the stochastic stability of the closed-loop system with desired extended dissipative performance. Finally, an example is presented to illustrate the effectiveness and advantages of the proposed new design techniques.

Reliable Filter Design of Takagi-Sugeno Fuzzy Switched Systems With Imprecise Modes.

This paper is concerned with the problem of asynchronous and reliable filter design with performance constraint for nonlinear Markovian jump systems which are modeled as a kind of Takagi-Sugeno fuzzy switched systems. The nonstationary Markov chain is adopted to represent the asynchronous situation between the designed filter and the considered system. By using the mode-dependent Lyapunov function approach and the relaxation matrix technique, a sufficient condition is proposed to ensure the filtering error system, which is a dual randomly switched system, is stochastically stable and satisfies a given l2-l∞ performance index simultaneously. Two different approaches are developed to construct the asynchronous and reliable filter. Owing to the Finsler's lemma, the second approach has fewer decision variables and less conservatism than the first one. Finally, two examples are provided to show the correctness and effectiveness of the proposed methods.

Quantized Control of Markov Jump Nonlinear Systems Based on Fuzzy Hidden Markov Model.

This paper considers the problem of asynchronous guaranteed cost control (GCC) for nonlinear Markov jump systems with stochastic quantization. Hidden Markov model is used to describe the nonsynchronous controller and the random quantization phenomenon. Based on Takagi-Sugeno fuzzy technique and Lyapunov function approach, a sufficient condition is obtained, which can not only ensure the asymptotic stability of the closed-loop system and existence of the desired controller, but also can yield the minimal upper bound of GCC performance. Finally, two examples are provided to demonstrate the correctness and reliability of our developed approaches.

Hidden-Markov-Model-Based Asynchronous Filter Design of Nonlinear Markov Jump Systems in Continuous-Time Domain.

This paper addresses the dissipative asynchronous filtering problem for a class of Takagi-Sugeno fuzzy Markov jump systems in the continuous-time domain. The hidden Markov model is applied to describe the asynchronous situation between the designed filter and the original system. Based on the stochastic Lyapunov function, a sufficient condition is developed to guarantee the stochastic stability of the filtering error systems with a given dissipative performance. Two different methods for the existence of desired filter are established. Due to the Finsler's lemma, the second approach has fewer variables to decide and brings less conservatism than the first one. Finally, an example is provided to demonstrate the correctness and advantage of the proposed approaches.

H∞ Output Consensus for Markov Jump Multiagent Systems With Uncertainties.

This paper investigates the H∞ output consensus problem for multiagent systems with Markov jump and external disturbance in both continuous-time and discrete-time domains. The communication network is directed and fixed with uncertainties. Based on the hidden Markov model, an output feedback controller is constructed. Then, the original system is transformed into a reduced-order system, which features the error dynamics. By using a Lyapunov function, sufficient conditions are developed to ensure that all agents can reach the consensus with the desired H∞ performance in the mean-square sense. Finally, simulation results are presented to illustrate the efficiency of the proposed approaches.

Asynchronous Dissipative Control for Fuzzy Markov Jump Systems.

The problem of asynchronous dissipative control is investigated for Takagi-Sugeno fuzzy systems with Markov jump in this paper. Hidden Markov model is introduced to represent the nonsynchronization between the designed controller and the original system. By the fuzzy-basis-dependent and mode-dependent Lyapunov function, a sufficient condition is achieved such that the resulting closed-loop system is stochastically stable with a strictly ( , , )- -dissipative performance. The controller parameter is derived by applying MATLAB to solve a set of linear matrix inequalities. Finally, we present two examples to confirm the validity and correctness of our developed approach.