Distributed formation control of nonholonomic autonomous vehicle via RBF neural network

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• 作者：Shichun Yang^a ; ^b ; Yaoguang Cao^a ; Zhaoxia Peng^a ; ^b ; ^{pengzhaoxia@buaa.edu.cn} ; Guoguang Wen^c ; Konghui Guo^d
• 关键词：Vehicle ; Formation control ; RBF neural network ; Graph theory ; Filippov solution
• 刊名：Mechanical Systems and Signal Processing
• 出版年：2017
• 出版时间：15 March 2017
• 年：2017
• 卷：87
• 期：part_PB
• 页码：81-95
• 全文大小：2389 K
• 卷排序：87

文摘

RBF neural network consensus-based distributed control scheme is proposed. A variable transformation is designed to convert the formation control problem into a state consensus problem. The complete dynamics of the vehicles including friction and unmodeled bounded disturbances are considered.