Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran; Smart Microgrid Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran.
Department of Electrical Engineering, Najafabad Branch, Islamic Azad University, Najafabad, Iran; Smart Microgrid Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran.
ISA Trans. 2018 Mar;74:14-27. doi: 10.1016/j.isatra.2018.01.023. Epub 2018 Feb 3.
In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust.
本文提出了一种针对具有未知非线性函数、未知控制增益和未知执行器故障的多智能体高阶非线性系统的鲁棒自适应神经网络控制器。首先，神经网络（NN）用于逼近从跟随者控制器设计过程中得出的非线性不确定性项。然后，通过结合反推法和动态面控制（DSC）方法，开发了一种新型分布式鲁棒自适应控制器。所提出的控制器是分布式的，因为为每个跟随者代理设计的控制器仅需要自身与其邻居之间的相对状态信息。通过使用 Young 不等式，无论 NN 节点数量如何，仅需要调整少数几个参数。因此，同时解决了维数诅咒和复杂性爆炸的问题。通过选择适当的 Lyapunov-Krasovskii 泛函来设计新的自适应律。所提出的方法证明了所有闭环信号的有界性，以及分布式跟踪误差收敛到原点的小邻域。仿真结果表明，所提出的控制器是有效和鲁棒的。
