Cooperative Control of Unknown Networked Lagrange Systems using Higher Order Neural Networks

This chapter investigates the cooperative control problem for a group of Lagrange systems with a target system to be tracked. The development is suitable for the case that the desired trajectory of the target node is only available to a portion of the networked systems. All the networked systems can have different dynamics. The dynamics of the networked systems, as well as the target system, are all assumed unknown. A higher-order neural network is used at each node to approximate the distributed unknown dynamics. A distributed adaptive neural network control protocol is proposed so that the networked systems synchronize to the motion of the target node. The theoretical analysis shows that the synchronization error can be made arbitrarily small by appropriately tuning the design parameters. DOI: 10.4018/978-1-4666-2175-6.ch010