Online Learning Cooperative Control for Heterogeneous Multi-Agent Systems

被引：0

作者：

Zhu, Xiaoxia ^{[1
]}

Dong, Lu ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat, Nanjing, Peoples R China

来源：

2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年

关键词：

cooperative control; multi-agent systems; online learning; DHDP; GLOBAL OPTIMAL CONSENSUS; ADAPTIVE OPTIMAL-CONTROL; VALUE-ITERATION;

D O I：

10.1109/cac48633.2019.8996497

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The cooperative control research of the leaderfollower heterogeneous multi-agent system with mixed dynamics is studied. To acquire the control objective of the uniformly ultimately bounded consensus, the direct heuristic dynamic programming (DHDP) based online learning controller is proposed. The actor-critic architecture is implemented for the controller algorithm. The critic network is employed to approximate the index function. The action network is applied to minimize the index function and produce the control signal. This method can be employed in real time and no accurate system model is needed. Finally, the numerical experimentation is given to reflect the practicability and reliability of the online controller.

引用

页码：3500 / 3505

页数：6

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