Neural Network-Based Adaptive Leader-Following Consensus Control for a Class of Nonlinear Multiagent State-Delay Systems

作者：Wen, Guoxing^*; Chen, C. L. Philip; Liu, Yan-Jun; Liu, Zhi

来源：IEEE Transactions on Cybernetics, 2017, 47(8): 2151-2160.

DOI：10.1109/TCYB.2016.2608499

• Consensus control
• external disturbance
• neural networks (NNs)
• nonlinear multiagent systems
• state delay

Compared with the existing neural network (NN) or fuzzy logic system (FLS) based adaptive consensus methods, the proposed approach can greatly alleviate the computation burden because it needs only to update a few adaptive parameters online. In the multiagent agreement control, the system uncertainties derive from the unknown nonlinear dynamics are counteracted by employing the adaptive NNs; the state delays are compensated by designing a Lyapunov-Krasovskii functional. Finally, based on Lyapunov stability theory, it is demonstrated that the proposed consensus scheme can steer a multiagent system synchronizing to the predefined reference signals. Two simulation examples, a numerical multiagent system and a practical multi-manipulator system, are carried out to further verify and testify the effectiveness of the proposed agreement approach.

• 出版日期2017-8
• 单位滨州学院; 辽宁工业大学; 广东工业大学