输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法

李洪阳; 魏庆来

doi:10.1631/FITEE.2200010

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输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法

多智能体系统的体系化和组织化博弈专题 | Updated：2022-09-08

- 输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法
- Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game
- 信息与电子工程前沿（英文） 2022年23卷第7期页码：1010-1019
- Affiliations：
  
  1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing100049, China
  2.The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing100190, China
  3.Institute of Systems Engineering, Macau University of Science and Technology, Macau999078, China
- Author bio：
  
  E-mail: lihongyang2019@ia.ac.cn;
  ‡Corresponding authors
- Funds：
  
  National Key R&D Program of China(2018YFB1702300);National Natural Science Foundation of China(61722312;61533017)
- DOI：10.1631/FITEE.2200010
  中图分类号： TP13
- 收稿：2022-01-14，
  
  录用：2022-03-07，
  
  网络出版：2022-05-20，
  
  纸质出版：2022-07-23
- Accepted：
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李洪阳, 魏庆来. 输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法[J]. 信息与电子工程前沿（英文）, 2022,23(7):1010-1019.

Hongyang LI, Qinglai WEI. Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(7): 1010-1019.
李洪阳, 魏庆来. 输入饱和下多智能体系统最优一致性控制：一类非零和博弈方法[J]. 信息与电子工程前沿（英文）, 2022,23(7):1010-1019. DOI： 10.1631/FITEE.2200010.

Hongyang LI, Qinglai WEI. Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(7): 1010-1019. DOI： 10.1631/FITEE.2200010.

摘要

本文针对输入饱和下的多智能体系统，提出一种最优一致性控制方法。引入多智能体博弈理论，将最优一致性控制问题转化为多智能体非零和博弈。之后，通过求解具有非二次输入能量项的耦合Hamilton–Jacobi–Bellman（HJB）方程，实现Nash平衡。提出脱策强化学习方法，在系统模型未知情况下获得Nash平衡解；引入评判神经网络和执行神经网络实现所提方法。理论分析显示迭代控制律收敛到Nash平衡。仿真实验验证了所提方法的有效性。

Abstract

This paper presents a novel optimal synchronization control method for multi-agent systems with input saturation. The multi-agent game theory is introduced to transform the optimal synchronization control problem into a multi-agent nonzero-sum game. Then

the Nash equilibrium can be achieved by solving the coupled Hamilton–Jacobi–Bellman (HJB) equations with nonquadratic input energy terms. A novel off-policy reinforcement learning method is presented to obtain the Nash equilibrium solution without the system models

and the critic neural networks (NNs) and actor NNs are introduced to implement the presented method. Theoretical analysis is provided

which shows that the iterative control laws converge to the Nash equilibrium. Simulation results show the good performance of the presented method.

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