{"title":"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","authors":"Yanhong Luo;Shunwei Hu;Huaguang Zhang;Xiangpeng Xie","doi":"10.1109/TSMC.2025.3548114","DOIUrl":null,"url":null,"abstract":"This article investigates the <inline-formula> <tex-math>$H_{\\infty } $ </tex-math></inline-formula> 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.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 6","pages":"3791-3801"},"PeriodicalIF":8.6000,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Model-Free H∞ Optimal Hierarchical Control of Heterogeneous Multiagent Systems via Adaptive Dynamic Programming\",\"authors\":\"Yanhong Luo;Shunwei Hu;Huaguang Zhang;Xiangpeng Xie\",\"doi\":\"10.1109/TSMC.2025.3548114\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article investigates the <inline-formula> <tex-math>$H_{\\\\infty } $ </tex-math></inline-formula> 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.\",\"PeriodicalId\":48915,\"journal\":{\"name\":\"IEEE Transactions on Systems Man Cybernetics-Systems\",\"volume\":\"55 6\",\"pages\":\"3791-3801\"},\"PeriodicalIF\":8.6000,\"publicationDate\":\"2025-03-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Systems Man Cybernetics-Systems\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10934072/\",\"RegionNum\":1,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Systems Man Cybernetics-Systems","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10934072/","RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
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.
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.