Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 41, Issue 3, Pages 805-816Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2010.2095497
Keywords
Adaptive; approximation; Lagrangian systems; neural networks (NNs); synchronization
Categories
Funding
- Fundamental Research Funds for the Central Universities [CDJZR11170003]
- Specialized Research Fund for the Doctoral Program of Higher Education [SRFDP-09-0191120025]
- Air Force Office of Scientific Research [FA9550-09-1-0278]
- National Science Foundation [ECCS-0801330]
- Army Research Office [W91NF-05-1-0314]
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This paper investigates the cooperative tracking control problem for a group of Lagrangian vehicle systems with directed communication graph topology. All the vehicles can have different dynamics. A design method for a distributed adaptive protocol is given which guarantees that all the networked systems synchronize to the motion of a target system. The dynamics of the networked systems, as well as the target system, are all assumed unknown. A neural network (NN) is used at each node to approximate the distributed dynamics. The resulting protocol consists of a simple decentralized proportional-plus-derivative term and a nonlinear term with distributed adaptive tuning laws at each node. The case with nonconstant NN approximation error is considered. There, a robust term is added to suppress the external disturbances and the approximation errors of the NNs. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms.
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