基于神经网络的非线性多智能体系统自适应跟踪

Q1 Engineering
Bo-Xian Lin, Wei-Hao Li, Kai-Yu Qin, Xi Chen
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引用次数: 4

摘要

研究了具有不确定模型参数和非线性扰动的二阶多智能体系统的鲁棒一致跟踪控制问题。提出了一种自适应控制策略来平滑智能体的轨迹,并构建了神经网络来估计系统的未知成分。在无模型不确定性的情况下,给出了自适应控制算法下具有非线性动力学的leader跟踪的一致性条件。然后,通过应用神经网络估计对智能体模型的不确定部分进行补偿,将结果推广到具有未知时变扰动的系统。基于李雅普诺夫函数项设计了更新律,以保证鲁棒控制的有效性。最后,通过数值模拟验证了理论结果,并进行了对比实验,结果表明该方法生成的轨迹振荡较小,收敛速度较快。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Neural network based adaptive tracking of nonlinear multi-agent system

In this paper, the problems of robust consensus tracking control for the second-order multi-agent system with uncertain model parameters and nonlinear disturbances are considered. An adaptive control strategy is proposed to smooth the agent’s trajectory, and the neural network is constructed to estimate the system’s unknown components. The consensus conditions are demonstrated for tracking a leader with nonlinear dynamics under an adaptive control algorithm in the absence of model uncertainties. Then, the results are extended to the system with unknown time-varying disturbances by applying the neural network estimation to compensating for the uncertain parts of the agents’ models. Update laws are designed based on the Lyapunov function terms to ensure the effectiveness of robust control. Finally, the theoretical results are verified by numerical simulations, and a comparative experiment is conducted, showing that the trajectories generated by the proposed method exhibit less oscillation and converge faster.

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来源期刊
Journal of Electronic Science and Technology
Journal of Electronic Science and Technology Engineering-Electrical and Electronic Engineering
CiteScore
4.30
自引率
0.00%
发文量
1362
审稿时长
99 days
期刊介绍: JEST (International) covers the state-of-the-art achievements in electronic science and technology, including the most highlight areas: ¨ Communication Technology ¨ Computer Science and Information Technology ¨ Information and Network Security ¨ Bioelectronics and Biomedicine ¨ Neural Networks and Intelligent Systems ¨ Electronic Systems and Array Processing ¨ Optoelectronic and Photonic Technologies ¨ Electronic Materials and Devices ¨ Sensing and Measurement ¨ Signal Processing and Image Processing JEST (International) is dedicated to building an open, high-level academic journal supported by researchers, professionals, and academicians. The Journal has been fully indexed by Ei INSPEC and has published, with great honor, the contributions from more than 20 countries and regions in the world.
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