Adaptive Neural Network Time-varying Formation Tracking Control for Multi-agent Systems via Minimal Learning Parameter Approach | |
Xiong Tianyi1,2; Pu Zhiqiang1,2; Yi Jianqiang1,2; Sui Zezhi1,2 | |
2019 | |
会议名称 | 2019 International Joint Conference on Neural Networks (IJCNN 2019) |
会议日期 | July 14-19, 2019 |
会议地点 | Budapest, Hungary |
出版者 | Institute of Electrical and Electronics Engineers Inc |
摘要 | This paper investigates the time-varying formation tracking control problem for multi-agent systems with consideration of model uncertainties. For each dimension of an agent, a radial basis function neural network (RBFNN) is first adopted to approximate the model uncertainties online. Taking the square of the norm of the neural network weight vector as a newly developed adaptive parameter, a novel RBFNN-based adaptive control law with minimal learning parameter (MLP) approach is then constructed to tackle the time-varying formation tracking problem. The uniformly ultimately boundedness (UUB) of formation tracking errors is guaranteed through Lyapunov analysis. Compared with other traditional RBFNN-based formation tracking control laws for multi-agent systems, very few parameters need to be adapted online in our proposed one, which can greatly lessen the computational burden. Finally, comparative simulation results demonstrate the effectiveness and superiority of the proposed adaptive control law. |
关键词 | Formation Control Minimal Learning Parameter Multi-agent System Neural Network |
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/173211/23662 |
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,et al. Adaptive Neural Network Time-varying Formation Tracking Control for Multi-agent Systems via Minimal Learning Parameter Approach[C]:Institute of Electrical and Electronics Engineers Inc,2019. |
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IJCNN20190117.pdf(548KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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