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Intelligent tracking control method of a target by group of agents with nonlinear dynamics

This paper proposes the intelligent tracking control of the target by group of agents with nonlinear dynamics. In the proposed method, agents can exchange only information of positions and the group of agents track the target based on only its position, taking a predefined formation. In the real world, the method that agents do not require a lot of information is useful for the case of existing communication delay of information and weak communication. In addition, each agent shall have the nonlinear dynamics and external disturbance. Therefore an auto- structuring fuzzy neural control system (ASFNCS) is introduced to provide appropriate control inputs while coping well with disturbance and nonlinear dynamics. Thus, while maintaining adequate control performance, the method can reduce the computational load. In the simulation, it is verified that the proposed method is useful in the point of target tracking performance through distributed agent cooperation behaviors.