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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
Conference Name2018 International Joint Conference on Neural Networks (IJCNN 2018)
Conference DateJuly 8-13, 2018
Conference PlaceRio de Janeiro, Brazil
PublisherInstitute of Electrical and Electronics Engineers Inc
Abstract

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.

KeywordFormation Neural Network Time Delays Multi-uav
Indexed ByEI
Language英语
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23659
Collection综合信息系统研究中心
Affiliation1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
2.Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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