NDLI: Region tracking control for high-order multi-agent systems in restricted space

Content Provider	IET Digital Library
Author	Sun, Xiaoming Ge, Shuzhi Sam Zhang, Jun Cao, Xianbin
Abstract	In this study, decentralised region tracking control is proposed to force a group of mobile agents with high-order non-linear dynamics to track a moving target region without collisions as well as to avoid the obstacle on the track in restricted space. The decentralised controllers can also guarantee connectivity preserving of the dynamic interaction network. The control design is based on artificial potential functions, neural network (NN) approximation, adaptive backstepping techniques and Lyapunov's method. It is proved that under the adaptive NN control, the tracking error of each agent can converge to an adjustable neighbourhood of the origin, although some of them do not access the desired region directly. Simulation results are represented to illustrate the performance of the proposed approach.
Starting Page	396
Ending Page	406
Page Count	11
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 4, Feb (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2015.0877
Journal	IET Control Theory & Applications
Publisher Date	2016-02-26
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Backstepping Technique Adaptive Control Adaptive NN Control Approximation Theory Artificial Intelligence Artificial Potential Function Collision Avoidance Control Design Control Nonlinearities Control System Analysis Control System Synthesis Decentralised Control Decentralised Controller Decentralised Region Tracking Control Dynamic Interaction Network High-order Multiagent System High-order Nonlinear Dynamics Interpolation And Function Approximation Lyapunov Method Lyapunov's Method Mobile Agent Mobile Robots Moving Target Region Tracking Multi-agent System Multi-robot System Multivariable Control System Neural Network Approximation Neurocontrol Neurocontrollers NN Approximation Nonlinear Control System Numerical Analysis Obstacle Avoidance Restricted Space Self Adjusting Control System Spatial Variables Control Stability in Control Theory Synthesis Method Target Tracking Tracking Error
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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