Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots
Joint Authors
Liu, Guiyun
Lan, Xuejing
Xu, Wenbiao
Wu, Zhenghao
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-02
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
This paper considers the region-based formation control for a swarm of robots with unknown nonlinear dynamics and disturbances.
An adaptive neural network is designed to approximate the unknown nonlinear dynamics, and the desired formation shape is achieved by designing appropriate potential functions.
Moreover, the collision avoidance, velocity consensus, and region tracking are all considered in the controller.
The stability of the multirobot system has been demonstrated based on the Lyapunov theorem.
Finally, three numerical simulations show the effectiveness of the proposed formation control scheme to deal with the narrow space, loss of robots, and formation merging problems.
American Psychological Association (APA)
Lan, Xuejing& Wu, Zhenghao& Xu, Wenbiao& Liu, Guiyun. 2018. Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots. Complexity،Vol. 2018, no. 2018, pp.1-8.
https://search.emarefa.net/detail/BIM-1136147
Modern Language Association (MLA)
Lan, Xuejing…[et al.]. Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots. Complexity No. 2018 (2018), pp.1-8.
https://search.emarefa.net/detail/BIM-1136147
American Medical Association (AMA)
Lan, Xuejing& Wu, Zhenghao& Xu, Wenbiao& Liu, Guiyun. Adaptive-Neural-Network-Based Shape Control for a Swarm of Robots. Complexity. 2018. Vol. 2018, no. 2018, pp.1-8.
https://search.emarefa.net/detail/BIM-1136147
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1136147