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Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks
Zou, An-Min1; Kumar, Krishna Dev1; Hou, Zeng-Guang2
Source PublicationINTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
2013-02-01
Volume23Issue:3Pages:334-357
SubtypeArticle
AbstractThis paper investigates the problem of consensus tracking control for second-order multi-agent systems in the presence of uncertain dynamics and bounded external disturbances. The communication ?ow among neighbor agents is described by an undirected connected graph. A fast terminal sliding manifold based on lumped state errors that include absolute and relative state errors is proposed, and then a distributed finite-time consensus tracking controller is developed by using terminal sliding mode and Chebyshev neural networks. In the proposed control scheme, Chebyshev neural networks are used as universal approximators to learn unknown nonlinear functions in the agent dynamics online, and a robust control term using the hyperbolic tangent function is applied to counteract neural-network approximation errors and external disturbances, which makes the proposed controller be continuous and hence chattering-free. Meanwhile, a smooth projection algorithm is employed to guarantee that estimated parameters remain within some known bounded sets. Furthermore, the proposed control scheme for each agent only employs the information of its neighbor agents and guarantees a group of agents to track a time-varying reference trajectory even when the reference signals are available to only a subset of the group members. Most importantly, finite-time stability in both the reaching phase and the sliding phase is guaranteed by a Lyapunov-based approach. Finally, numerical simulations are presented to demonstrate the performance of the proposed controller and show that the proposed controller exceeds to a linear hyperplane-based sliding mode controller. Copyright (C) 2011 John Wiley & Sons, Ltd.
KeywordMulti-agent Systems Consensus Tracking Adaptive Control Terminal Sliding Mode Chebyshev Neural Network
WOS HeadingsScience & Technology ; Technology ; Physical Sciences
WOS KeywordNONLINEAR-SYSTEMS ; ADAPTIVE-CONTROL ; FEEDBACK ; SYNCHRONIZATION ; TOPOLOGY ; LEADER ; APPROXIMATION ; MANIPULATORS ; DESIGN ; DELAYS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering ; Mathematics
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS IDWOS:000313553200005
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3390
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Ryerson Univ, Dept Aerosp Engn, Toronto, ON M5B 2K3, Canada
2.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
Recommended Citation
GB/T 7714
Zou, An-Min,Kumar, Krishna Dev,Hou, Zeng-Guang. Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2013,23(3):334-357.
APA Zou, An-Min,Kumar, Krishna Dev,&Hou, Zeng-Guang.(2013).Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,23(3),334-357.
MLA Zou, An-Min,et al."Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 23.3(2013):334-357.
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