Neural-adaptive Finite-time Formation Tracking Control of Multiple Nonholonomic Agents with A Time-varying Target
This paper investigates the leader-following formation tracking problem (FTP) for multiple nonholonomic agent systems (MNASs) in the presence of external disturbances and parametric uncertainties, where both the kinematics and dynamics of the agents are taken into consideration. A novel finite-time...
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| Veröffentlicht in: | IEEE access 2020-01, Vol.8, p.1-1 |
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| creator | Zhou, Kai-Bo Wu, Xiao-Kang Ge, Ming-Feng Liang, Chang-Duo Hu, Bing-Liang |
| description | This paper investigates the leader-following formation tracking problem (FTP) for multiple nonholonomic agent systems (MNASs) in the presence of external disturbances and parametric uncertainties, where both the kinematics and dynamics of the agents are taken into consideration. A novel finite-time distributed controller-estimator algorithm (DCEA) is designed to handle such a challenging problem. Based on Lyapunov stability method, the sufficient conditions for finite-time stability of the closed-loop system are derived. Finally, the simulation results are presented to demonstrate the effectiveness and the robustness of the proposed DCEA. |
| doi_str_mv | 10.1109/ACCESS.2020.2980894 |
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A novel finite-time distributed controller-estimator algorithm (DCEA) is designed to handle such a challenging problem. Based on Lyapunov stability method, the sufficient conditions for finite-time stability of the closed-loop system are derived. 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| subjects | Adaptive control Algorithms Convergence distributed controller-estimator algorithm (DCEA) Feedback control Heuristic algorithms Kinematics leader-following formation tracking problem (FTP) Multiple nonholonomic agent system (MNAS) Neural networks Neurons radial basis function (RBF) neural network Stability Stability analysis Target tracking Tracking control Tracking problem |
| title | Neural-adaptive Finite-time Formation Tracking Control of Multiple Nonholonomic Agents with A Time-varying Target |
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