Distributed consensus control for multi-agent systems using terminal sliding mode and Chebyshev neural networks
文献类型：期刊论文
| 作者 | Zou, An-Min1; Kumar, Krishna Dev1; Hou, Zeng-Guang2
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
 |
| 出版日期 | 2013-02-01 |
| 卷号 | 23期号:3页码:334-357 |
| 关键词 | multi-agent systems consensus tracking adaptive control terminal sliding mode Chebyshev neural network |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied |
| 研究领域[WOS] | Automation & Control Systems ; Engineering ; Mathematics |
| 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记录号 | WOS:000313553200005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3390]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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