Distributed Optimal Output Synchronization of Heterogeneous Multi-agent System with Input Delays

The paper studies and solves the problem of distributed optimal output synchronization for HMASs with input delays. After adopting the idea of discreting and transforming the model, a continuous-time system with input delay is converted into a discrete-time system without delay of input. When studying the system’s optimization, the discounted performance function is defined, then the optimal control protocol of every follower is designed to achieve synchronization of all agents. A Q-learning method where dynamics of all agents do not need to be known is shown by using the online solution of ARE. Finally, several curves are shown to ensure that the theory of paper is correct.