Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine
文献类型：期刊论文
| 作者 | Qian, Dianwei1; Zhang, Guigang3 ; Wang, Jian3; Wu, Zhimin2
|
| 刊名 | SYMMETRY-BASEL
 |
| 出版日期 | 2019-12-01 |
| 卷号 | 11期号:12页码:19 |
| 关键词 | multirobot systems formation maneuvers super-twisting sliding mode control uncertainties extreme learning machine |
| DOI | 10.3390/sym11121444 |
| 通讯作者 | Wu, Zhimin(zhimin_wu@szpt.edu.cn) |
| 英文摘要 | This paper addresses a second-order sliding mode control method for the formation problem of multirobot systems. The formation patterns are usually symmetrical. This sliding mode control is based on the super-twisting law. In many real-world applications, the robots suffer from a great diversity of uncertainties and disturbances that greatly challenge super-twisting sliding mode formation maneuvers. In particular, such a challenge has adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of an extreme learning machine to meet this challenge. Within the leader-follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the extreme learning machine. The output weights of this extreme learning machine are adaptively adjusted so that this integrated formation design has guaranteed closed-loop stability in the sense of Lyaponov. In the end, some simulations are implemented via a multirobot platform, illustrating the superiority and effectiveness of the integrated formation design in spite of uncertainties and disturbances. |
| WOS关键词 | TIME MULTIAGENT SYSTEMS ; MOTION |
| 资助项目 | Science and Technology Program of Shenzhen, China[JCYJ20170818114408837] |
| WOS研究方向 | Science & Technology - Other Topics |
| 语种 | 英语 |
| WOS记录号 | WOS:000508127700016 |
| 出版者 | MDPI |
| 资助机构 | Science and Technology Program of Shenzhen, China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/29553]  |
| 专题 | 数字内容技术与服务研究中心_智能技术与系统工程 |
| 通讯作者 | Wu, Zhimin |
| 作者单位 | 1.North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China 2.Shenzhen Polytech, Inst Mech & Elect Engn, Shenzhen 518055, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Qian, Dianwei,Zhang, Guigang,Wang, Jian,et al. Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine[J]. SYMMETRY-BASEL,2019,11(12):19. |
| APA | Qian, Dianwei,Zhang, Guigang,Wang, Jian,&Wu, Zhimin.(2019).Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine.SYMMETRY-BASEL,11(12),19. |
| MLA | Qian, Dianwei,et al."Second-Order Sliding Mode Formation Control of Multiple Robots by Extreme Learning Machine".SYMMETRY-BASEL 11.12(2019):19. |
入库方式： OAI收割
来源：自动化研究所
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