An adaptive critic-based scheme for consensus control of nonlinear multi-agent systems

The problem of decentralised consensus control of a network of heterogeneous nonlinear systems is formulated as an optimal tracking problem and a solution is proposed using an approximate dynamic programming based neurocontroller. The neurocontroller training comprises an initial offline training ph...

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Bibliographic Details
Published in:International journal of control Vol. 87; no. 12; pp. 2463 - 2474
Main Authors: Heydari, Ali, Balakrishnan, S.N.
Format: Journal Article
Language:English
Published: Abingdon Taylor & Francis 02.12.2014
Taylor & Francis Ltd
Subjects:
adaptive critics
Control systems
decentralised control
Dynamic programming
Dynamical systems
Graphs
Networks
Nonlinear dynamics
nonlinear multi-agent system
Nonlinearity
optimal tracking control
Tracking problem
Training
ISSN:0020-7179, 1366-5820
Online Access:Get full text
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Summary:The problem of decentralised consensus control of a network of heterogeneous nonlinear systems is formulated as an optimal tracking problem and a solution is proposed using an approximate dynamic programming based neurocontroller. The neurocontroller training comprises an initial offline training phase and an online re-optimisation phase to account for the fact that the reference signal subject to tracking is not fully known and available ahead of time, i.e., during the offline training phase. As long as the dynamics of the agents are controllable, and the communication graph has a directed spanning tree, this scheme guarantees the synchronisation/consensus even under switching communication topology and directed communication graph. Finally, an aerospace application is selected for the evaluation of the performance of the method. Simulation results demonstrate the potential of the scheme.
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ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2014.928947