Neural Network based Distributed Adaptive Time-varying Formation Control for Multi-UAV Systems with Varying Time Delays

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	Neural Network based Distributed Adaptive Time-varying Formation Control for Multi-UAV Systems with Varying Time Delays
	Xiong Tianyi1,2 ; Pu Zhiqiang1,2 ; Yi Jianqiang1,2
	2018
会议名称	2018 International Joint Conference on Neural Networks (IJCNN 2018)
会议日期	July 8-13, 2018
会议地点	Rio de Janeiro, Brazil
出版者	Institute of Electrical and Electronics Engineers Inc
摘要	This paper investigates the time-varying formation control problem for multiple unmanned aerial vehicle (multi-UAV) systems with unknown uncertainties and varying time delays. Firstly, a radial basis function neural network (RBFNN) is adopted to estimate the lumped model uncertainties online for compensation. Then, a novel RBFNN-based fully distributed adaptive control scheme consisting of control law to stabilize the system and adaptive law to adjust RBFNN weights is developed to tackle the time-varying formation tracking problem in the presence of varying time delay. The uniformly ultimately boundedness (UUB) of the formation tracking errors is theoretically analyzed through Lyapunov approach. Comparative simulation results demonstrate the effectiveness of the control and adaptive laws proposed in this paper.
关键词	Formation Neural Network Time Delays Multi-uav
收录类别	EI
语种	英语
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/23659
专题	综合信息系统研究中心
作者单位	1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China 2.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Xiong Tianyi,Pu Zhiqiang,Yi Jianqiang. Neural Network based Distributed Adaptive Time-varying Formation Control for Multi-UAV Systems with Varying Time Delays[C]:Institute of Electrical and Electronics Engineers Inc,2018.

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