Neuro-Adaptive Formation Control and Target Tracking for Nonlinear Multi-Agent Systems With Time-Delay
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Bibliographic record
Abstract
This letter proposes an adaptive neural network-based backstepping controller that uses rigid graph theory to address the distance-based formation control problem and target tracking for nonlinear multi-agent systems with bounded time-delay and disturbance. The radial basis function neural network (RBFNN) is used to overcome and compensate for the unknown nonlinearity and disturbance in the system dynamics. The effect of the state time-delay of the agents is alleviated by using an appropriate control signal that is designed based on specific Lyapunov function and Young's inequality. The adaptive neural network (NN) weights tuning law is derived using this Lyapunov function. An upper bound for the singular value of the normalized rigidity matrix is introduced, and uniform ultimate boundedness (UUB) of the formation distance error is rigorously proven based on the Lyapunov stability theory. Finally, the performance and effectiveness of the proposed method are validated through the simulation results on nonlinear multi-agent systems. Comparisons between the proposed distance-based method and an existing, displacement-based method are provided to evaluate the performance of the suggested method.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it