Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning
In this paper, a distributed robust optimal formation control problem is studied based on reinforcement learning for the heterogeneous multi-agent system with partial unknown system parameters. The formation system is subjected to equivalent disturbances containing parameter uncertainties and extern...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9276397/ |
| _version_ | 1818734836629635072 |
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| author | Wei Lin Wanbing Zhao Hao Liu |
| author_facet | Wei Lin Wanbing Zhao Hao Liu |
| author_sort | Wei Lin |
| collection | DOAJ |
| description | In this paper, a distributed robust optimal formation control problem is studied based on reinforcement learning for the heterogeneous multi-agent system with partial unknown system parameters. The formation system is subjected to equivalent disturbances containing parameter uncertainties and external disturbances. The proposed robust optimal controller consists of a nominal controller and a robust compensator. For the nominal controller, the reinforcement learning algorithm is proposed to obtain the optimal control input. For the robust compensator, the reinforcement learning algorithm is firstly used to identify the unknown dynamic parameters and then the robust compensator is designed to restrain the equivalent disturbances in the formation system. The robustness properties of the global multi-agent system are proven. A simulation of heterogeneous rotorcrafts is provided to verify the effectiveness of the proposed method. |
| first_indexed | 2024-12-18T00:11:42Z |
| format | Article |
| id | doaj.art-1da5528e5f064665ac4860d45c9b7716 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-18T00:11:42Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-1da5528e5f064665ac4860d45c9b77162022-12-21T21:27:40ZengIEEEIEEE Access2169-35362020-01-01821842421843210.1109/ACCESS.2020.30420819276397Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement LearningWei Lin0Wanbing Zhao1https://orcid.org/0000-0002-0564-9736Hao Liu2https://orcid.org/0000-0001-8365-8008State Key Laboratory of Mathematical Engineering and Advanced Computing, Information Engineering University, Zhengzhou, ChinaSchool of Astronautics, Beihang University, Beijing, ChinaSchool of Astronautics, Beihang University, Beijing, ChinaIn this paper, a distributed robust optimal formation control problem is studied based on reinforcement learning for the heterogeneous multi-agent system with partial unknown system parameters. The formation system is subjected to equivalent disturbances containing parameter uncertainties and external disturbances. The proposed robust optimal controller consists of a nominal controller and a robust compensator. For the nominal controller, the reinforcement learning algorithm is proposed to obtain the optimal control input. For the robust compensator, the reinforcement learning algorithm is firstly used to identify the unknown dynamic parameters and then the robust compensator is designed to restrain the equivalent disturbances in the formation system. The robustness properties of the global multi-agent system are proven. A simulation of heterogeneous rotorcrafts is provided to verify the effectiveness of the proposed method.https://ieeexplore.ieee.org/document/9276397/Formation controlreinforcement learningrobust optimal controlheterogeneous multi-agent systems |
| spellingShingle | Wei Lin Wanbing Zhao Hao Liu Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning IEEE Access Formation control reinforcement learning robust optimal control heterogeneous multi-agent systems |
| title | Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning |
| title_full | Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning |
| title_fullStr | Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning |
| title_full_unstemmed | Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning |
| title_short | Robust Optimal Formation Control of Heterogeneous Multi-Agent System via Reinforcement Learning |
| title_sort | robust optimal formation control of heterogeneous multi agent system via reinforcement learning |
| topic | Formation control reinforcement learning robust optimal control heterogeneous multi-agent systems |
| url | https://ieeexplore.ieee.org/document/9276397/ |
| work_keys_str_mv | AT weilin robustoptimalformationcontrolofheterogeneousmultiagentsystemviareinforcementlearning AT wanbingzhao robustoptimalformationcontrolofheterogeneousmultiagentsystemviareinforcementlearning AT haoliu robustoptimalformationcontrolofheterogeneousmultiagentsystemviareinforcementlearning |