NDLI: Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems

Content Provider	IEEE Xplore Digital Library
Author	Gang Chen Lewis, F.L.
Copyright Year	1996
Abstract	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.
Page Count	12
File Size	284484
Starting Page	805
Ending Page	816
File Format	PDF
ISSN	10834419
Volume Number	41
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Artificial neural networks Vehicles Synchronization Vehicle dynamics Topology Robots Network topology synchronization Adaptive approximation Lagrangian systems neural networks (NNs)
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Information Systems Electrical and Electronic Engineering Human-Computer Interaction Computer Science Applications Software

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