Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning

doi:10.1109/JAS.2021.1004359

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	Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning
	Lina Xia; Qing Li; Ruizhuo Song; Hamidreza Modares
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:3 页码:520-532
摘要	The asymmetric input-constrained optimal synchronization problem of heterogeneous unknown nonlinear multiagent systems (MASs) is considered in the paper. Intuitively, a state-space transformation is performed such that satisfaction of symmetric input constraints for the transformed system guarantees satisfaction of asymmetric input constraints for the original system. Then, considering that the leader’s information is not available to every follower, a novel distributed observer is designed to estimate the leader’s state using only exchange of information among neighboring followers. After that, a network of augmented systems is constructed by combining observers and followers dynamics. A nonquadratic cost function is then leveraged for each augmented system (agent) for which its optimization satisfies input constraints and its corresponding constrained Hamilton-Jacobi-Bellman (HJB) equation is solved in a data-based fashion. More specifically, a data-based off-policy reinforcement learning (RL) algorithm is presented to learn the solution to the constrained HJB equation without requiring the complete knowledge of the agents’ dynamics. Convergence of the improved RL algorithm to the solution to the constrained HJB equation is also demonstrated. Finally, the correctness and validity of the theoretical results are demonstrated by a simulation example.
关键词	Asymmetric input-constrained heterogeneous nonlinear multiagent systems (MASs) Hamilton-Jacobi-Bellman (HJB) equation novel observer reinforcement learning (RL)
DOI	10.1109/JAS.2021.1004359
引用统计	被引频次：18[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/47212
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Lina Xia,Qing Li,Ruizhuo Song,et al. Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(3):520-532.
APA	Lina Xia,Qing Li,Ruizhuo Song,&Hamidreza Modares.(2022).Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,9(3),520-532.
MLA	Lina Xia,et al."Optimal Synchronization Control of Heterogeneous Asymmetric Input-Constrained Unknown Nonlinear MASs via Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 9.3(2022):520-532.

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