Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks

	Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks
	Zou, An-Min 1; Kumar, Krishna Dev 1; Hou, Zeng-Guang2
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
	2013-02-01
卷号	23 期号:3 页码:334-357
文章类型	Article
摘要	This 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.
关键词	Multi-agent Systems Consensus Tracking Adaptive Control Terminal Sliding Mode Chebyshev Neural Network
WOS标题词	Science & Technology ; Technology ; Physical Sciences
关键词[WOS]	NONLINEAR-SYSTEMS ; ADAPTIVE-CONTROL ; FEEDBACK ; SYNCHRONIZATION ; TOPOLOGY ; LEADER ; APPROXIMATION ; MANIPULATORS ; DESIGN ; DELAYS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000313553200005
引用统计	被引频次：80[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3390
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.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
推荐引用方式 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.