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This paper investigates the cooperative tracking control problem for a group of Lagrangian vehicle systems with directed communication graph topology. All the vehicles can have different dynamics. A design method for a distributed adaptive protocol is given which guarantees that all the networked systems synchronize to the motion of a target system. The dynamics of the networked systems, as well as the target system, are all assumed unknown. A neural network (NN) is used at each node to approximate the distributed dynamics. The resulting protocol consists of a simple decentralized proportional-plus-derivative term and a nonlinear term with distributed adaptive tuning laws at each node. The case with nonconstant NN approximation error is considered. There, a robust term is added to suppress the external disturbances and the approximation errors of the NNs. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms.
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on (Volume:41 , Issue: 3 )
Date of Publication: June 2011