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Neural network-based finite horizon optimal adaptive consensus control of mobile robot formations

2015; Wiley; Volume: 37; Issue: 5 Linguagem: Inglês

10.1002/oca.2222

1099-1514

H. M. Güzey, Hao Xu, S. Jagannathan,

Adaptive Control of Nonlinear Systems

Optimal Control Applications and MethodsVolume 37, Issue 5 p. 1014-1034 Research Article Neural network-based finite horizon optimal adaptive consensus control of mobile robot formations H. M. Guzey, Corresponding Author H. M. Guzey hmgb79@mst.edu Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USA Correspondence to: Haci Mehmet Guzey, Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USA. E-mail: hmgb79@mst.eduSearch for more papers by this authorHao Xu, Hao Xu Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USASearch for more papers by this authorJagannathan Sarangapani, Jagannathan Sarangapani College of Science and Engineering, Texas A&M University-Corpus Christi, Corpus Christi, TX, USASearch for more papers by this author H. M. Guzey, Corresponding Author H. M. Guzey hmgb79@mst.edu Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USA Correspondence to: Haci Mehmet Guzey, Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USA. E-mail: hmgb79@mst.eduSearch for more papers by this authorHao Xu, Hao Xu Department of Electrical and Computer Engineering, Missouri University of Science and Technology, Rolla, MO, USASearch for more papers by this authorJagannathan Sarangapani, Jagannathan Sarangapani College of Science and Engineering, Texas A&M University-Corpus Christi, Corpus Christi, TX, USASearch for more papers by this author First published: 01 December 2015 https://doi.org/10.1002/oca.2222Citations: 12Read the full textAboutPDF ToolsRequest permissionExport citationAdd to favoritesTrack citation ShareShare Give accessShare full text accessShare full-text accessPlease review our Terms and Conditions of Use and check box below to share full-text version of article.I have read and accept the Wiley Online Library Terms and Conditions of UseShareable LinkUse the link below to share a full-text version of this article with your friends and colleagues. Learn more.Copy URL Share a linkShare onFacebookTwitterLinkedInRedditWechat Summary In this paper, a novel NN-based optimal adaptive consensus-based formation control scheme over finite horizon is presented for networked mobile robots or agents in the presence of uncertain robot/agent dynamics. The uncertain robot formation dynamics are approximated online by using an NN-based identifier and a suitable weight tuning law. In addition, a novel time-varying value function is derived by using the augmented error vector, which consists of the regulation and consensus-based formation errors of each robot. By using the value function approximation and the identified dynamics, the near optimal control input over finite horizon is derived. This finite horizon optimal control leads to a time-varying value function, which becomes the solution of the Hamilton–Jacobi–Bellman equation, and control input is approximated by a second NN with time-varying activation function. A novel weight update law for the NN value function is developed to tune the value function, satisfy the terminal constraint, and relax an initial admissible controller requirement. The Lyapunov stability method is utilized to demonstrate the consensus of the overall formation. Finally, simulation results are given to verify theoretical claims. Copyright © 2015 John Wiley & Sons, Ltd. Citing Literature Volume37, Issue5September/October 2016Pages 1014-1034 RelatedInformation