Distributed optimal integrated tracking control for separate kinematic and dynamic uncertain non-holonomic mobile mechanical multi-agent systems

This study addres,ses a distributed optimal integrated tracking control method with disturbance rejection for separate kinematic and dynamic uncertain non-holonomic mobile mechanical multi-agent ($\mathbf{NM^3}$NM3) systems. Initially, based on the graph theory, the overall tracking systems of agent...

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Veröffentlicht in:IET control theory & applications Jg. 11; H. 18; S. 3249 - 3260
1. Verfasser: Tan, Luy Nguyen
Format: Journal Article
Sprache:Englisch
Veröffentlicht: The Institution of Engineering and Technology 15.12.2017
Schlagworte:
cooperative differential game theory
differential games
distributed optimal integrated tracking control
disturbance rejection
dynamic programming
dynamic uncertain nonholonomic mobile mechanical multiagent systems
equivalent distributed optimal regulation problem
function approximation errors
graph theory
integrated affine system
iterative learning control
iterative loop
kinematic uncertain nonholonomic mobile mechanical multiagent systems
Lyapunov methods
Lyapunov theory
mobile robots
multi‐robot systems
neural network
neurocontrollers
NN weight‐tuning law
NN‐based adaptive dynamic programming
numerical simulation
online algorithm
optimal control
Research Article
tracking errors
tracking systems
wheeled mobile multirobot system
worst disturbance laws
equivalent distributed optimal regulation problem
NN weight-tuning law
disturbance rejection
graph theory
tracking systems
multi-robot systems
mobile robots
neural network
NN-based adaptive dynamic programming
wheeled mobile multirobot system
iterative loop
iterative learning control
neurocontrollers
function approximation errors
numerical simulation
online algorithm
dynamic programming
tracking errors
optimal control
integrated affine system
Lyapunov theory
cooperative differential game theory
distributed optimal integrated tracking control
dynamic uncertain nonholonomic mobile mechanical multiagent systems
differential games
kinematic uncertain nonholonomic mobile mechanical multiagent systems
worst disturbance laws
Lyapunov methods
ISSN:1751-8644, 1751-8652
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Beschreibung
Zusammenfassung:This study addres,ses a distributed optimal integrated tracking control method with disturbance rejection for separate kinematic and dynamic uncertain non-holonomic mobile mechanical multi-agent ($\mathbf{NM^3}$NM3) systems. Initially, based on the graph theory, the overall tracking systems of agents are defined and the distributed optimal tracking problem of separate kinematics and dynamics is transformed into an equivalent distributed optimal regulation problem of the integrated affine system. Then, neural network (NN)-based adaptive dynamic programming and cooperative differential game theory is utilised for control, in which only one NN is required for each agent. The NN weight-tuning law and the online algorithm is developed to approximate the value function, and synchronously update both optimal control and worst disturbance laws in only one iterative loop. The tracking errors and function approximation errors are proven to be uniformly ultimately bounded using Lyapunov theory. Finally, as applications of the proposed method, control of the wheeled mobile multi-robot system is discussed. The effectiveness of the method is demonstrated by the results of the comparative numerical simulation.
ISSN:1751-8644
1751-8652
DOI:10.1049/iet-cta.2017.0259