Distributed optimal coordination control for nonlinear multi-agent systems using event-triggered adaptive dynamic programming method

doi:10.1016/j.isatra.2019.01.021

2019-08-01

PRE

Wei Zhao

Huaipin Zhang *

DOI：10.1016/j.isatra.2019.01.021

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摘要

En 中文

This paper is concerned with the design of distributed optimal coordination control for nonlinear multi agent systems (NMASs) based on event-triggered adaptive dynamic programming (ETADP) method. The method is firstly introduced to design the distributed coordination controllers for NMASs, which not only avoids the transmission of redundant data compared with traditional time-triggered adaptive dynamic programming (TTADP) strategy and minimizes the performance function of each agent. The event-triggered conditions are proposed based on Lyapunov functional method, which is deduced by guaranteeing the stability of NMASs. Then a new adaptive policy iteration algorithm is presented to obtain the online solutions of the Hamiton-Jocabi-Bellman (HJB) equations. In order to implement the proposed ETADP method, the fuzzy hyperbolic model based critic neural networks (NN) are utilized to approximate the value functions and help calculate the control policies. In critic NNs, the NN weight estimations are updated at the event-triggered instants leading to aperiodic weight tuning laws so that computation cost is reduced. It is proved that the weight estimation errors and the local neighborhood coordination errors is uniformly ultimately bounded (UUB). Finally, two simulation examples are provided to show the effectiveness of the proposed ETADP method. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

Keyword:

Multi-agent systems

Event-triggered sampling

Distributed optimal coordination control

Adaptive dynamic programming

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期刊

ISA Transactions

IF:

6.5

论文数:

6.1K

被引数:

2.0W

机构

southeast university - china

学者数:

5.3W

论文数: 4.9W

被引数: 57

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