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https://hdl.handle.net/2440/127314
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dc.contributor.author | Fei, Y. | - |
dc.contributor.author | Shi, P. | - |
dc.contributor.author | Lim, C.C. | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | International Journal of Systems Science, 2020; 51(11):2025-2040 | - |
dc.identifier.issn | 0020-7721 | - |
dc.identifier.issn | 1464-5319 | - |
dc.identifier.uri | http://hdl.handle.net/2440/127314 | - |
dc.description.abstract | This paper considers the problem of achieving time-varying formation for second-order multi-agent systems with actuator hysteresis, unknown system dynamics and external disturbances. A novel adaptive dynamic sliding mode scheme is developed to control a group of agents to follow desired trajectories. First, a dynamic sliding mode approach based on local formation tracking error is utilized to reject external disturbances and obtain smooth and chattering-free control input. Then Chebyshev neural network is employed to estimate the nonlinear function related to the system's dynamic equation. A smooth projection law is also applied to regulate the output of the neural network. Moreover, a Bouc-Wen hysteresis compensator has been added to the current control law to o set the known actuator hysteresis effect. Finally, a numerical simulation based on a multiple omni-directional robot system is presented to illustrate the performance of the proposed control law. | - |
dc.description.statementofresponsibility | Yang Fei , Peng Shi and Cheng-Chew Lim | - |
dc.language.iso | en | - |
dc.publisher | Taylor & Francis | - |
dc.rights | © 2020 Informa UK Limited, trading as Taylor & Francis Group | - |
dc.source.uri | http://dx.doi.org/10.1080/00207721.2020.1783385 | - |
dc.subject | Multi-agent systems; dynamic sliding mode control; Chebyshev neural network; formation control; Bouc–Wen hysteresis | - |
dc.title | Neural network adaptive dynamic sliding mode formation control of multi-agent systems | - |
dc.type | Journal article | - |
dc.identifier.doi | 10.1080/00207721.2020.1783385 | - |
dc.relation.grant | http://purl.org/au-research/grants/arc/DP170102644 | - |
pubs.publication-status | Published | - |
dc.identifier.orcid | Fei, Y. [0000-0002-4342-2196] | - |
dc.identifier.orcid | Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435] | - |
dc.identifier.orcid | Lim, C.C. [0000-0002-2463-9760] | - |
Appears in Collections: | Aurora harvest 8 Electrical and Electronic Engineering publications |
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