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Adaptive critic-based neuro-fuzzy controller in multi-agents: Distributed behavioral control and path tracking

Vatankhah, R ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1016/j.neucom.2011.08.031
  3. Abstract:
  4. In this paper, we follow two control tasks in a leader following frame with undirected network and local communications. As the first goal, distributed behavioral imitation, which is necessary to fit agents with complicated motion equations in kinematic frames, is discussed. Providing real agents with behavioral controller makes them capable to act as a kinematic particle. The second goal is to design an active leading strategy for the LA to move the group on a predefined path. Both problems can be mathematically modeled in an affine form, which is the reason behind using a unique adaptive controller to solve them. The controller is based on a neuro-fuzzy structure with critic-based leaning structure. It is shown that the proposed controller can successfully handle both tasks
  5. Keywords:
  6. Adaptive critic-based neuro-fuzzy control technique ; Multi-agents ; Active leading ; Behavioral control ; Neurofuzzy control ; Path tracking ; Controllers ; Equations of motion ; Fuzzy control ; Behavioral research ; Adaptive critic based neuro fuzzy controller ; Artificial neural network ; Behavior control ; Control system ; Fuzzy logic ; Kinematics ; Machine learning ; Mathematical computing ; Mathematical model ; Motion ; Priority journal ; Problem solving ; Robotics
  7. Source: Neurocomputing ; Volume 88 , July , 2012 , Pages 24-35 ; 09252312 (ISSN)
  8. URL: http://www.sciencedirect.com/science/article/pii/S0925231212000148