Residential College | false |
Status | 已發表Published |
Artificial Neural Networks in coordinated control of multiple hovercrafts with unmodeled terms | |
Kairong Duan1; Simon Fong1; Yan Zhuang1; Wei Song2 | |
2018-05-24 | |
Source Publication | Applied Sciences (Switzerland) |
ISSN | 2076-3417 |
Volume | 8Issue:6 |
Abstract | In this paper, the problem of coordinated control of multiple hovercrafts is addressed. For a single hovercraft, by using the backstepping technique, a nonlinear controller is proposed, where Radial Basis Function Neural Networks (RBFNNs) are adopted to approximate unmodeled terms. Despite the application of RBFNNs, integral terms are introduced, improving the robustness of controller. As a result, global uniformly ultimate boundedness is achieved. Regarding the communication topology, two different directed graphs are chosen under the assumption that there are no delays when they communicate with each other. In order to testify the performance of the proposed strategy, simulation results are presented, showing that vehicles can move forward in a specific formation pattern and RBFNNs are able to approximate unmodeled terms. |
Keyword | Surface Vehicle Underactuated Vehicle Rbfnns Directed Graph Coordinated Control |
DOI | 10.3390/app8060862 |
URL | View the original |
Indexed By | SCIE |
Language | 英語English |
WOS Research Area | Chemistry ; Engineering ; Materials Science ; Physics |
WOS Subject | Chemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied |
WOS ID | WOS:000436488000021 |
Publisher | MDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND |
Scopus ID | 2-s2.0-85047477302 |
Fulltext Access | |
Citation statistics | |
Document Type | Journal article |
Collection | DEPARTMENT OF COMPUTER AND INFORMATION SCIENCE |
Corresponding Author | Simon Fong |
Affiliation | 1.Department of Computer and Information Science, University of Macau, Taipa 999078, Macau, China 2.School of Computer Science, North China University of Technology, Beijing 100144, China |
First Author Affilication | University of Macau |
Corresponding Author Affilication | University of Macau |
Recommended Citation GB/T 7714 | Kairong Duan,Simon Fong,Yan Zhuang,et al. Artificial Neural Networks in coordinated control of multiple hovercrafts with unmodeled terms[J]. Applied Sciences (Switzerland), 2018, 8(6). |
APA | Kairong Duan., Simon Fong., Yan Zhuang., & Wei Song (2018). Artificial Neural Networks in coordinated control of multiple hovercrafts with unmodeled terms. Applied Sciences (Switzerland), 8(6). |
MLA | Kairong Duan,et al."Artificial Neural Networks in coordinated control of multiple hovercrafts with unmodeled terms".Applied Sciences (Switzerland) 8.6(2018). |
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