期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 51, 期 2, 页码 1354-1364出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2896662
关键词
Containment maneuvering; echo state network (ESN); finite-time nonlinear tracking differentiator; multiple-input multiple-output (MIMO) nonlinear systems; small-gain theorem
资金
- National Natural Science Foundation of China [61673081, 51579023, 61751202, U1813203]
- National Key Research and Development Program of China [2016YFC0301500]
- Innovative Talents in Universities of Liaoning Province [LR2017014]
- High Level Talent Innovation and Entrepreneurship Program of Dalian [2016RQ036]
- Science and Technology Innovation Funds of Dalian [2018J11CY022]
- Fundamental Research Funds for the Central Universities [3132016313]
This paper investigates the distributed containment maneuvering problem for uncertain nonlinear multiagent systems, and develops a containment maneuvering controller through a modular design method enabling decoupled estimation and control. The stability and boundedness of errors in the closed-loop system are proven.
This paper investigates the distributed containment maneuvering problem for uncertain nonlinear multiagent systems in multiple-input multiple-output (MIMO) strict-feedback form. The follower agents are driven to achieve a collective motion guided by multiple parameterized paths, and a dynamic behavior can be independently prescribed for the group during maneuvering. A containment maneuvering controller is developed by utilizing a modular design method enabling decoupled estimation and control. Specifically, an estimator module is constructed by utilizing an echo state network to identify the unknown nonlinearities. Next, a controller module is constructed by employing a modified dynamic surface control method where a second-order nonlinear tracking differentiator is introduced to extract the derivative information of the virtual control law. Subsequently, a path update law is derived such that the virtual leaders are synchronized, and the desired speed profile for the group can be specified independently. By using a small-gain theorem and cascade stability theory, the entire closed-loop system is proved to be input-to-state stable, and the containment maneuvering errors are uniformly ultimately bounded. An application for the formation control of marine surface vehicles is provided to show the efficacy of the proposed controller for containment maneuvering of uncertain nonlinear MIMO strict-feedback systems.
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