Cooperative tracking of multiple agents with uncertain nonlinear dynamics and fixed time delays

Authors:
Rongxin Cui;Dong Cui;Mou Chen
Affiliations:
School of Marine Engineering, Northwestern Polytechnical University, Xi'an, P.R. China;School of Marine Engineering, Northwestern Polytechnical University, Xi'an, P.R. China;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, P.R. China
Venue:
ISNN'13 Proceedings of the 10th international conference on Advances in Neural Networks - Volume Part II
Year:
2013

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Abstract

In this paper, we focus on the cooperative tracking problem of multi-agent systems with nonlinear dynamics and communication time delays. Only a portion of agents can access the information of the desired trajectory and there are communication delays among the agents. Through designing an adaptive neural network based control law and constructing an appropriate Lyapunov-Krasovskii functional, it is proved that the tracking error of each agent converges to a neighborhood of zero. Simulation results are provided to show the effectiveness of the proposed algorithm.