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Artificial Neural Networks in coordinated control of multiple hovercrafts with unmodeled terms
Kairong Duan1; Simon Fong1; Yan Zhuang1; Wei Song2
2018-05-24
Source PublicationApplied Sciences (Switzerland)
ISSN2076-3417
Volume8Issue: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.

KeywordSurface Vehicle Underactuated Vehicle Rbfnns Directed Graph Coordinated Control
DOI10.3390/app8060862
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaChemistry ; Engineering ; Materials Science ; Physics
WOS SubjectChemistry, Multidisciplinary ; Engineering, Multidisciplinary ; Materials Science, Multidisciplinary ; Physics, Applied
WOS IDWOS:000436488000021
PublisherMDPI, ST ALBAN-ANLAGE 66, CH-4052 BASEL, SWITZERLAND
Scopus ID2-s2.0-85047477302
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Citation statistics
Document TypeJournal article
CollectionDEPARTMENT OF COMPUTER AND INFORMATION SCIENCE
Corresponding AuthorSimon Fong
Affiliation1.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 AffilicationUniversity of Macau
Corresponding Author AffilicationUniversity 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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