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

• Published in: IEEE transactions on cybernetics Vol. 47; no. 8; pp. 2151 - 2160
• Main Authors: Guoxing Wen, Chen, C. L. Philip, Yan-Jun Liu, Zhi Liu
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.08.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Artificial neural networks; Computer simulation; Consensus control; Delay effects; Delays; Dynamical systems; Eigenvalues and eigenfunctions; external disturbance; Fuzzy logic; Fuzzy systems; Multi-agent systems; Multiagent systems; Neural networks; neural networks (NNs); Nonlinear dynamics; nonlinear multiagent systems; Parameter uncertainty; Reference signals; state delay; Synchronism
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2016.2608499

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 multimanipulator system, are carried out to further verify and testify the effectiveness of the proposed agreement approach.