Neural-network-based fully distributed formation control for nonlinear multi-agent systems with event-triggered communication  

作　　者：ZHU GuoLiang LIU KeXin GU HaiBo LÜJinHu 

机构地区：[1]School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China [2]Zhongguancun Laboratory,Beijing 100094,China

出　　处：《Science China(Technological Sciences)》2024年第1期209-220,共12页中国科学（技术科学英文版）

基　　金：This work was supported by the National Key R&D Program of China(Grant No.2022YFB3305600);the National Natural Science Foundation of China(Grant Nos.62103015,62141604 and 92067204);the Fundamental Research Funds for Central Universities of China(Grant No.YWF-23-03-QB-019).

摘　　要：This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communication among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.

关 键 词：formation control neural network adaptive control event-triggered communication multi-agent systems 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程] TP273[自动化与计算机技术—控制科学与工程]