Abstract
In this paper, we focus on the cooperative tracking problem of multi-agent systems with nonlinear dynamics and communication time delays. Only a portion of agents can access the information of the desired trajectory and there are communication delays among the agents. Through designing an adaptive neural network based control law and constructing an appropriate Lyapunov-Krasovskii functional, it is proved that the tracking error of each agent converges to a neighborhood of zero. Simulation results are provided to show the effectiveness of the proposed algorithm.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Li, Z., Tao, P., Ge, S.S., Adams, M.D., Wijesoma, W.S.: Robust adaptive control of cooperating mobile manipulators with relative motion. IEEE Transactions on System, Man, and Cybernetics, Part B (1), 103–116 (2009)
Li, Z., Cao, X., Ding, N.: Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays. IEEE Transactions on Fuzzy System (4), 745–757 (2011)
Li, Z., Li, J., Kang, Y.: Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments. Automatica 40(12), 2028–2034 (2010)
Yang, C., Ganesh, G., Haddadin, S., Parusel, S., Albu-Schaeffer, A., Burdet, E.: Human-like adaptation of force and impedance in stable and unstable interactions. IEEE Transactions on Robotics (5), 918–930 (2011)
Chen, M., Ge, S.S.: Robust attitude control of helicopters with actuator dynamics using nerual networks. In: IET Control Theory & Applications, pp. 2837–2854 (2010)
Olfati-Saber, R., Murray, R.M.: Consensus problems in networks of agents with switching topology and time-delays. IEEE Transactions on Automatic Control 49(9), 1520–1533 (2004)
Yang, W., Bertozzi, A.L., Wang, X.: Stability of a second order consensus algorithm with time delay. In: Proc. of 47th IEEE Conference on Decision and Control, pp. 2926–2931. IEEE (2008)
Hua, C.C., Liu, X.: Delay-dependent stability criteria of teleoperation systems with asymmetric time-varying delays. IEEE Transactions on Robotics 26(5), 925–932 (2010)
Chopra, N., Spong, M.W., Lozano, R.: Synchronization of bilateral teleoperators with time delay. Automatica 44(8), 2142–2148 (2008)
Abdessameud, A., Tayebi, A.: Formation control of vtol unmanned aerial vehicles with communication delays. Automatica 47(11), 2383–2394 (2011)
Li, Z., Cao, X.Q., Ding, N.: Adaptive fuzzy control for synchronization of nonlinear teleoperators with stochastic time-varying communication delays. IEEE Transactions on Fuzzy Systems 19(4), 745–757 (2011)
Cui, R., Ren, B., Ge, S.: Synchronised tracking control of multi-agent system with high order dynamics. IET Control Theory & Applications 6(5), 603–614 (2012)
Liu, Y.J., Chen, C.L.P., Wen, G.X., Tong, S.: Adaptive neural output feedback tracking control for a class of uncertain discrete-time nonlinear systems. IEEE Transactions on Neural Networks 22(7), 1162–1167 (2011)
Yang, C., Ge, S.S., Lee, T.H.: Output feedback adaptive control of a class of nonlinear discrete-time systems with unknown control directions. Automatica 45(1), 270–276 (2009)
Yang, C., Ge, S.S., Xiang, C., Chai, T., Lee, T.H.: Output feedback nn control for two classes of discrete-time systems with unknown control directions in a unified approach. IEEE Transactions on Neural Networks 19(11), 1873–1886 (2008)
Chen, M., Ge, S.S., Ren, B.: Adaptive tracking control of uncertain mimo nonlinear systems with input constraints. Automatica, 452–465 (2011)
Ge, S.S., Hang, C.C., Lee, T.T., Zhang, T.: Stable Adaptive Neural Network Control. Kluwer Academic, Boston (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cui, R., Cui, D., Chen, M. (2013). Cooperative Tracking of Multiple Agents with Uncertain Nonlinear Dynamics and Fixed Time Delays. In: Guo, C., Hou, ZG., Zeng, Z. (eds) Advances in Neural Networks – ISNN 2013. ISNN 2013. Lecture Notes in Computer Science, vol 7952. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39068-5_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-39068-5_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-39067-8
Online ISBN: 978-3-642-39068-5
eBook Packages: Computer ScienceComputer Science (R0)