文章基本信息

标题：Implementation of Brain Emotional Learning-Based Intelligent Controller for Flocking of Multi-Agent Systems
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作者：Mohammad Jafari ; Ric Fehr ; Luis Rodolfo Garcia Carrillo 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：6934-6939
DOI：10.1016/j.ifacol.2017.08.1219
语种：English
出版社：Elsevier
摘要：AbstractThe Brain Emotional Learning Based Intelligent Controller (BELBIC) is a neurobiologically-motivated intelligent controller based on a computational model of emotional learning in mammalian limbic system. The learning capabilities, multi-objective properties, and low computational complexity of BELBIC make it a very promising tool for implementation in real-time applications.Our research combines, in an original way, the BELBIC methodology with a flocking control strategy, in order to perform real-time coordination of multiple Unmanned Aircraft Systems (UAS). The characteristics of BELBIC fit well in this scenario, since almost always the dynamics of the autonomous agents are not fully known, and furthermore, since they operate in close proximity, they are subjected to aggressive external disturbances. Numerical and experimental results based on the coordination of multiple quad rotorcraft UAS platforms demonstrate the applicability and satisfactory performance of the proposed method.
关键词：KeywordsReinforcement learning controladaptive neuralfuzzy controlembedded computer control systemsapplicationsknowledge based controltele-robot