Name
Title | ||
|---|---|---|
Consensus Maneuvering for a Class of Nonlinear Multivehicle Systems in Strict-Feedback Form. |
Abstract | ||
|---|---|---|
In this paper, a consensus maneuvering problem for nonlinear multivehicle systems in strict-feedback form is investigated. The consensus maneuvering problem includes a geometric task and a dynamic task. The geometric task means that all trajectories of follower vehicles converge to a parameterized path. The dynamic task is to drive the system to satisfy a desired dynamic assignment. A consensus maneuvering controller is developed for each vehicle based on a modular design approach. First, an estimator module is designed based on an echo state network, which is used to estimate uncertain nonlinearities. Then, a controller module is designed based on a modified dynamic surface control method through the use of a second-order nonlinear tracking differentiator. Finally, a path update law is designed based on a distributed maneuvering error feedback and a filtering scheme. The proposed controller is distributed in the sense that the path information is accessed by a small number of follower vehicles only. The stability of the closed-loop system cascaded by the estimator module and the controller module is analyzed based on input-to-state stability theory and cascade theory. Simulation results are provided to demonstrate the efficacy of the proposed consensus maneuvering controllers for uncertain nonlinear strict-feedback systems. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/TCYB.2018.2822258 | IEEE transactions on cybernetics |
Keywords | Field | DocType |
Task analysis,Vehicle dynamics,Stability analysis,Nonlinear dynamical systems,Reservoirs,Closed loop systems,Cybernetics | Control theory,Mathematical optimization,Nonlinear system,Differentiator,Control theory,Vehicle dynamics,Echo state network,Mathematics,Estimator,Stability theory,Strict-feedback form | Journal |
Volume | Issue | ISSN |
49 | 5 | 2168-2275 |
Citations | PageRank | References |
1 | 0.35 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yibo Zhang | 1 | 8 | 1.77 |
| Dan Wang | 2 | 714 | 38.64 |
| Zhouhua Peng | 3 | 645 | 36.02 |