Leader-Follower Formation Control Using Cerebellar Perceptron Improved Model with Auto-structuring

This paper proposes an intelligent formation control method of the leader and follower agents with nonlinear dynamics using our proposed cerebellar perceptron improved model with auto-structuring mechanism. In the proposed method, each agent can follow the leader, exchanging only information of positions (without velocities) of the observable agents including the leader and taking a predefined formation. In the real world, the method that doesn't need a lot of information to make cooperative behaviors is very useful for such cases of environments existing weak communications. In the computer simulation, it is verified that the proposed method is useful in the points of performance of the leader-following formation control without velocity and of the changeable environment.