The Bridge - Issue 2, 2018 - 24

Feature
platform. As shown in Figure 4 (a), multiple aerial
and terrestrial unmanned systems were connected
to a remote controller through aWiFi network.
Moreover, the indoor GPS system (i.e. Vicon system)
has been used to instead of traditional outdoor GPS.
As shown in Figure 4 (b), the proposed scheme can
effectively control three UAS (AR Drones) to track the
moving target on the ground (i.e. unmanned ground
agent) even in presence of network imperfections
and unknown disturbance.
According to the simulation and experimental
results presented from Figure 3 to Figure 4, the
proposed design is not only maintaining the stability
of the networked multi-UAS, but also achieving the
ideal optimal flocking performance closely, even in
presence of complete unknown system dynamics,
unknown network imperfections, and disturbance.

THE BRIDGE

V. CONCLUSION
A novel NDP-based distributed stochastic
optimal flocking control is designed for uncertain
networked MAS with unknown system dynamics and
disturbance. To attain the optimal flocking design, a
novel optimal flocking cost function is developed first
for the networked MAS. Subsequently, a novel NNbased identifier is proposed to relax the requirement
of the networked MAS dynamics. Further, a novel
critic NN is designed to approximate the HJI
equation solution forward-in-time, while satisfying
the terminal constraint of the networked MAS twoplayer zero-sum game over a finite horizon. An
initial admissible control and disturbances guarantee
that the networked MAS system is stable during
the tuning period of the NN-based identifier, critic,
and two action NNs. Using Lyapunov theory, the
networked MAS system states, identification error,
weight estimation errors of the NN-based identifier,
critic and two action NNs, are demonstrated to be
ultimately uniformly bounded (UUB) in the mean
square sense. Simulations and experimental results
verify the theoretical solution.



Table of Contents for the Digital Edition of The Bridge - Issue 2, 2018

Contents
The Bridge - Issue 2, 2018 - Cover1
The Bridge - Issue 2, 2018 - Cover2
The Bridge - Issue 2, 2018 - Contents
The Bridge - Issue 2, 2018 - 4
The Bridge - Issue 2, 2018 - 5
The Bridge - Issue 2, 2018 - 6
The Bridge - Issue 2, 2018 - 7
The Bridge - Issue 2, 2018 - 8
The Bridge - Issue 2, 2018 - 9
The Bridge - Issue 2, 2018 - 10
The Bridge - Issue 2, 2018 - 11
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The Bridge - Issue 2, 2018 - 37
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