引用本文:张天平,刘涛,章恩泽.具有时变输出约束的非线性多智能体系统自适应最优包含控制[J].控制理论与应用,2024,41(10):1899~1912.[点击复制]
ZHANG Tian-ping,Liu Tao,Zhang En-ze.Adaptive optimal containment control for nonlinear multi-agent systems with time-varying output constraints[J].Control Theory and Technology,2024,41(10):1899~1912.[点击复制]
具有时变输出约束的非线性多智能体系统自适应最优包含控制
Adaptive optimal containment control for nonlinear multi-agent systems with time-varying output constraints
摘要点击 2696  全文点击 82  投稿时间：2022-11-17  修订日期：2023-05-07
查看全文  查看/发表评论  下载PDF阅读器
DOI编号  10.7641/CTA.2023.21018
  2024,41(10):1899-1912
中文关键词  自适应动态规划  积分强化学习  最优控制  动态面控制  积分型障碍 Lyapunov函数  多智能体系统
英文关键词  adaptive dynamic programming  integral reinforcement learning  optimal control  dynamic surface control  integral barrier Lyapunov function  multi-agent systems
基金项目  国家自然科学基金项目(62073283, 62203381)资助.
作者单位E-mail
张天平* 扬州大学 tpzhang@yzu.edu.cn 
刘涛 扬州大学  
章恩泽 扬州大学  
中文摘要
      本文对具有时变输出约束和未建模动态的不确定严格反馈非线性多智能体系统, 提出了一种最优包含控制方法. 利用一种新型积分型障碍 Lyapunov函数处理输出约束, 利用动态信号处理未建模动态, 利用动态面控制方法设计前馈控制器, 结合自适应动态规划和积分强化学习方法设计最优反馈控制器, 利用神经网络在线逼近相应代价函数, 并设计权重更新律. 理论分析证明了所有跟随者的输出收敛到领导者生成的凸包中, 全部跟随者组成的闭环系统是半全局一致最终有界的, 同时, 跟随者的输出保持在给定的约束集中, 代价函数达到最小. 仿真结果验证了所提出方法的有效性.
英文摘要
      In this paper, an optimal containment control method is proposed for uncertain strict-feedback nonlinear multi-agent systems with time-varying output constraints and unmodeled dynamics. A new type integral barrier Lyapunov function is utilized to handle output constraints. A dynamical signal is applied to dispose of unmodeled dynamics. The dynamic surface control is used to design feedforward controller. The optimal feedback controller is constructed by applying adaptive dynamic programming and integral reinforcement learning techniques in which neural networks are utilized to approximate the relevant cost functions online with established weight updating laws. By theoretical analysis, the outputs of all followers converge to the convex hull spanned by all leaders, and the closed-loop control system composed of the whole followers is proved to be cooperative semi-globally uniformly ultimately bounded (SGUUB). In the mean time, the outputs maintain in the provided constraint sets and cost functions achieve minimization. A simulation example is presented to illustrate the feasibility of the developed approach.