Neuro-adaptive augmented distributed nonlinear dynamic inversion for consensus of nonlinear agents with unknown external disturbance

被引：5

作者：

Mondal, Sabyasachi ^{[1
]}

Tsourdos, Antonios ^{[1
]}

机构：

[1] Cranfield Univ, Aerosp Engn, Cranfield MK43 0AL, Beds, England

来源：

SCIENTIFIC REPORTS | 2022年 / 12卷 / 01期

基金：

英国工程与自然科学研究理事会;

关键词：

MULTIAGENT SYSTEMS; TRACKING CONTROL; DESIGN;

D O I：

10.1038/s41598-022-05663-4

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

This paper presents a novel neuro-adaptive augmented distributed nonlinear dynamic inversion (N-DNDI) controller for consensus of nonlinear multi-agent systems in the presence of unknown external disturbance. N-DNDI is a blending of neural network and distributed nonlinear dynamic inversion (DNDI), a new consensus control technique that inherits the features of Nonlinear Dynamic Inversion (NDI) and is capable of handling the unknown external disturbance. The implementation of NDI based consensus control along with neural networks is unique in the context of multi-agent consensus. The mathematical details provided in this paper show the solid theoretical base, and simulation results prove the effectiveness of the proposed scheme.

引用

页数：15

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