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- Title
Distributed optimal control for nonholonomic systems with input constraints and uncertain interconnections.
- Authors
Nguyen Tan, Luy
- Abstract
This paper studies a distributed optimal tracking control method for nonholonomic mobile mechanical multi-agent systems under complex conditions such as input constraints, the presence of both kinematic and dynamic disturbances, and uncertain interconnections. Initially, novel feed-forward control inputs are proposed to transform the inherently separate systems of kinematics and dynamics into an equivalent integrated system. Successively, an online distributed L2<inline-graphic></inline-graphic>-bounded optimal control algorithm is designed by utilizing adaptive dynamic programming and the theory of cooperative differential graphical games. In the algorithm, a single neural network instead of three for each agent is chosen, and the online weight-tuning laws for which are designed without identifying uncertain parameters directly or indirectly. Additionally, the optimal control and worst disturbance policies are synchronously updated in only one iterative loop. It is shown that during the convergence of the value functions to the approximate optimal values when the agents perform the algorithm, overall tracking and function approximation errors are uniformly ultimately bounded. Finally, as a successful application of the study, control of the wheeled mobile multi-robot system is discussed through simulations.
- Subjects
OPTIMAL control theory; NONHOLONOMIC dynamical systems; KINEMATICS; DYNAMIC programming; ARTIFICIAL neural networks
- Publication
Nonlinear Dynamics, 2018, Vol 93, Issue 2, p801
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-018-4228-8