Leader-Following Formation Control with an Adaptive Linear and Terminal Sliding Mode Combined Controller Using Auto-Structuring Fuzzy Neural Network
نویسندگان
چکیده
This paper proposes an intelligent formation control method of the leader and follower agents with nonlinear dynamics. In the proposed method, agents can exchange only information of positions of available agents and the follower agents follow the leader, taking a predefined formation. In the real world, the method that doesn’t need a lot of information to make cooperative behaviors is very useful for the case of environments existing communication delay and weak communication. In addition, each agent will be controlled by the linear and terminal combined sliding mode control method. Furthermore, to adapt the change of the environment, the Auto-Structuring Fuzzy Neural Control System (ASFNCS) is introduced to provide appropriate control inputs while coping well with disturbance and nonlinear dynamics. In the simulation, it is verified that the proposed method is useful in the point of performance of the leader-following formation control. Keywords-formation control; linear sliding mode control; terminal sliding mode control; auto-structuring fuzzy neural network
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