基于自适应动态规划的异构多智能体系统无模型H∞最优层次控制

IF 8.6 1区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Yanhong Luo;Shunwei Hu;Huaguang Zhang;Xiangpeng Xie
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引用次数: 0

摘要

研究了异构多智能体系统的$H_{\infty } $最优输出反馈控制问题。首先,设计了层次控制方案,降低了算法的复杂度,并通过设计补偿输入指标来保证预期的全局性能约束;其次,引入松弛参数,导出输出反馈下的最优解。此外,提出了一种策略迭代算法和矢量化方法来确定局部和协同控制增益。该松弛参数用于缓和性能指标的设计条件。此外,引入自适应动态规划(ADP),设计可逆数据集,在漂移动力学未知的情况下获得最优参数。该设计实现了异构多智能体系统最优输出反馈的无模型控制。最后,以F-16飞机和四轮自动驾驶汽车为例,验证了控制方案的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Model-Free H∞ Optimal Hierarchical Control of Heterogeneous Multiagent Systems via Adaptive Dynamic Programming
This article investigates the $H_{\infty } $ optimal output-feedback control problem of heterogeneous multiagent systems. First, a hierarchical control scheme is designed to reduce the algorithm’s complexity and the expected global performance constraints can be ensured by designing compensation input indicator. Second, a relaxation parameter is introduced to derive the optimal solution under output feedback. Additionally, a policy iteration algorithm and vectorization method are presented to determine local and collaborative control gains. This relaxation parameter serves to ease the design conditions for performance indicator. In addition, adaptive dynamic programming (ADP) is introduced and reversible datasets are designed to obtain optimal parameters with unknown drift dynamics. This design achieves model-free control of optimal output feedback for heterogeneous multiagent systems. Finally, the effectiveness of the control schemes is validated using F-16 aircraft and 4-wheel autonomous vehicles as examples.
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来源期刊
IEEE Transactions on Systems Man Cybernetics-Systems
IEEE Transactions on Systems Man Cybernetics-Systems AUTOMATION & CONTROL SYSTEMS-COMPUTER SCIENCE, CYBERNETICS
CiteScore
18.50
自引率
11.50%
发文量
812
审稿时长
6 months
期刊介绍: The IEEE Transactions on Systems, Man, and Cybernetics: Systems encompasses the fields of systems engineering, covering issue formulation, analysis, and modeling throughout the systems engineering lifecycle phases. It addresses decision-making, issue interpretation, systems management, processes, and various methods such as optimization, modeling, and simulation in the development and deployment of large systems.
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