| 题名 | Distributed Robust Containment Control for Multi-Robot Systems via Adaptive Critic Designs |
| 作者 | |
| DOI | |
| 发表日期 | 2023
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| ISBN | 979-8-3503-2530-0
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| 会议录名称 | |
| 页码 | 1-6
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| 会议日期 | 21-24 Aug. 2023
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| 会议地点 | Shenyang, China
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| 摘要 | This article develops a distributed robust containment control approach for multi-robot systems via adaptive critic designs. To begin with, the distributed robust containment control problem of multi-robot systems with modeling uncertainties is transformed into an optimal containment control problem of its nominal plant by designing discounted value functions for all following robots. Hereafter, the distributed optimal containment control law is derived by solving the coupled Hamilton-Jacobi-Bellman equation of each following robot via the critic-only structure. Moreover, theoretical analysis shows that the developed adaptive critic design-based distributed robust containment control scheme guarantees the containment errors of all following robots to be asymptotically stable. Finally, the effectiveness of the present control approach is verified by simulation studies. |
| 关键词 | |
| 学校署名 | 其他
|
| 相关链接 | [IEEE记录] |
| 收录类别 | |
| EI入藏号 | 20235115240017
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| EI主题词 | Adaptive control systems
; Dynamic programming
; Industrial robots
; Machine design
; Robust control
; Uncertainty analysis
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| EI分类号 | Mechanical Design:601
; Automatic Control Principles and Applications:731
; Control Systems:731.1
; Robotics:731.5
; Robot Applications:731.6
; Optimization Techniques:921.5
; Probability Theory:922.1
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| 来源库 | IEEE
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| 全文链接 | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10327521 |
| 引用统计 | |
| 成果类型 | 会议论文 |
| 条目标识符 | http://sustech.caswiz.com/handle/2SGJ60CL/619983 |
| 专题 | 工学院_系统设计与智能制造学院 |
| 作者单位 | 1.School of Automation, Guangdong University of Technology, Guangzhou, China 2.School of Advanced Manufacturing, Guangdong University of Technology, Jieyang, China 3.School of Systems Science, Beijing Normal University, Beijing, China 4.School of System Design and Intelligent Manufacturing, Southern University of Science and Technology, Shenzhen, China |
| 推荐引用方式 GB/T 7714 |
Yongwei Zhang,Haowei Lin,Bo Zhao,et al. Distributed Robust Containment Control for Multi-Robot Systems via Adaptive Critic Designs[C],2023:1-6.
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| 条目包含的文件 | 条目无相关文件。 | |||||
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