Abstract
In this article, an adaptive leader-follower formation control on the basis of neural network (NN) is developed for a class of second-order nonlinear multi-agent systems with unknown dynamics. Unlike the first-order formation control that only needs to govern the position states, the second-order formation control needs to govern both the position and velocity variables. Hence the second-order formation is more challenging and interesting than the first-order case. In the control design, the adaptive NN approximator is employed to compensate the nonlinear uncertainties, so that the control design difficulty coming from the unknown dynamics is effectively overcome. Through Lyapunov stability analysis, it is demonstrated that the proposed control method can complete the control tasks. To further demonstrate the effectiveness, the formation method is implemented to a numerical simulation, and it shows the desired results.
Highlights
Since the multi-agent control theory had been significantly developed, and lots of research results were published in literatures
Motivated by the above analysis, this paper develops an adaptive formation control method for a class of nonlinear double integral unknown dynamic multi-agent systems
Consider the nonlinear multi-agent system that is made up of m agents modeled by the following double integral dynamics: xi(t) = yi(t), yi(t) = ui + fi(xi, yi), i = 1, · · ·, m, (7)
Summary
Since the multi-agent control theory had been significantly developed, and lots of research results were published in literatures. In recent decades, their applications are increasingly being implemented to various fields, such as clusters of satellites, sensor networks, robot team, coordination of unmanned air vehicles [1]–[4]. Most of the published nonlinear multi-agent control methods either assume one of both the known dynamic function and the Lipschitz continuous condition, or have many mathematic imperfect in the theory proof, for examples [20]–[23]. Motivated by the above analysis, this paper develops an adaptive formation control method for a class of nonlinear double integral unknown dynamic multi-agent systems. Its estimation obtained via adaptive tuning is used to construct the actual control
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