Neural Network-Based Formation Control With Target Tracking for Second-Order Nonlinear Multiagent Systems

被引:26
作者
Aryankia, Kiarash [1 ]
Selmic, Rastko R. [1 ]
机构
[1] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H3H 1K4, Canada
基金
加拿大自然科学与工程研究理事会;
关键词
Multi-agent systems; Target tracking; Rigidity; Vehicle dynamics; Sensors; Backstepping; Aerodynamics; Distance-based formation control; neural networks (NNs); nonlinear multiagent systems; second-order systems; target tracking; TIME-DELAY SYSTEMS; FORMATION STABILIZATION; CONSENSUS CONTROL; ADAPTIVE-CONTROL; RIGID FORMATIONS; SYNCHRONIZATION; INFORMATION; INTEGRATOR; ALGORITHM; AGENTS;
D O I
10.1109/TAES.2021.3111719
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
This article proposes a distance-based formation control and target tracking for multiagent systems, where agents are modeled using second-order nonlinear systems in the presence of disturbance. By applying a rigid graph theory, we developed a neural network (NN)-based backstepping controller to address the distance-based formation control problem of nonlinear multiagent systems. To compensate for the unknown nonlinearity in the system dynamics, the radial basis function NN was used where the NN tuning law was derived based on Lyapunov stability theory. We rigorously proved the uniform ultimate boundedness of the formation distance error and NN weights' norm estimation error. Finally, using simulation results, we demonstrated the proposed method's performance on the second-order, nonlinear multiagent systems. To provide further evaluation, we compared the proposed distance-based method and existing displacement-based methods.
引用
收藏
页码:328 / 341
页数:14
相关论文
共 58 条
[11]  
Cai XY, 2014, P AMER CONTR CONF, P287, DOI 10.1109/ACC.2014.6858603
[12]   Adaptive Rigidity-Based Formation Control for Multirobotic Vehicles With Dynamics [J].
Cai, Xiaoyu ;
de Queiroz, Marcio .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (01) :389-396
[13]   Rigidity-Based Stabilization of Multi-Agent Formations [J].
Cai, Xiaoyu ;
de Queiroz, Marcio .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2014, 136 (01)
[14]   Adaptive Consensus Control for a Class of Nonlinear Multiagent Time-Delay Systems Using Neural Networks [J].
Chen, C. L. Philip ;
Wen, Guo-Xing ;
Liu, Yan-Jun ;
Wang, Fei-Yue .
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2014, 25 (06) :1217-1226
[15]   Cooperative Tracking Control of Nonlinear Multiagent Systems Using Self-Structuring Neural Networks [J].
Chen, Gang ;
Song, Yong-Duan .
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2014, 25 (08) :1496-1507
[16]   Cooperative adaptive control for synchronization of second-order systems with unknown nonlinearities [J].
Das, Abhijit ;
Lewis, Frank L. .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2011, 21 (13) :1509-1524
[17]   Distributed adaptive control for synchronization of unknown nonlinear networked systems [J].
Das, Abhijit ;
Lewis, Frank L. .
AUTOMATICA, 2010, 46 (12) :2014-2021
[18]   Leader-follower cooperative attitude control of multiple rigid bodies [J].
Dimarogonas, Dimos V. ;
Tsiotras, Panagiotis ;
Kyriakopoulos, Kostas J. .
SYSTEMS & CONTROL LETTERS, 2009, 58 (06) :429-435
[19]   Information structures to secure control of rigid formations with leader-follower architecture [J].
Eren, T ;
Whiteley, W ;
Anderson, BDO ;
Morse, AS ;
Belhumeur, PN .
ACC: Proceedings of the 2005 American Control Conference, Vols 1-7, 2005, :2966-2971
[20]  
Eren Tolga, 2007, Turkish Journal Electrical Engineering and Computer Sciences, Elektrik, V15, P169