New Results in Cooperative Adaptive Optimal Output Regulation

DONG Yuchen, GAO Weinan, JIANG Zhong-Ping

系统科学与复杂性(英文) ›› 2024, Vol. 37 ›› Issue (1) : 253-272.

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系统科学与复杂性(英文) ›› 2024, Vol. 37 ›› Issue (1) : 253-272. DOI: 10.1007/s11424-024-3429-0

New Results in Cooperative Adaptive Optimal Output Regulation

    DONG Yuchen1, GAO Weinan1, JIANG Zhong-Ping2
作者信息 +

New Results in Cooperative Adaptive Optimal Output Regulation

    DONG Yuchen1, GAO Weinan1, JIANG Zhong-Ping2
Author information +
文章历史 +

摘要

This paper investigates the cooperative adaptive optimal output regulation problem of continuous-time linear multi-agent systems. As the multi-agent system dynamics are uncertain, solving regulator equations and the corresponding algebraic Riccati equations is challenging, especially for high-order systems. In this paper, a novel method is proposed to approximate the solution of regulator equations, i.e., gradient descent method. It is worth noting that this method obtains gradients through online data rather than model information. A data-driven distributed adaptive suboptimal controller is developed by adaptive dynamic programming, so that each follower can achieve asymptotic tracking and disturbance rejection. Finally, the effectiveness of the proposed control method is validated by simulations.

Abstract

This paper investigates the cooperative adaptive optimal output regulation problem of continuous-time linear multi-agent systems. As the multi-agent system dynamics are uncertain, solving regulator equations and the corresponding algebraic Riccati equations is challenging, especially for high-order systems. In this paper, a novel method is proposed to approximate the solution of regulator equations, i.e., gradient descent method. It is worth noting that this method obtains gradients through online data rather than model information. A data-driven distributed adaptive suboptimal controller is developed by adaptive dynamic programming, so that each follower can achieve asymptotic tracking and disturbance rejection. Finally, the effectiveness of the proposed control method is validated by simulations.

关键词

Adaptive dynamic programming / cooperative output regulation / gradient descent method / multi-agent systems

Key words

Adaptive dynamic programming / cooperative output regulation / gradient descent method / multi-agent systems

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DONG Yuchen , GAO Weinan , JIANG Zhong-Ping. New Results in Cooperative Adaptive Optimal Output Regulation. 系统科学与复杂性(英文), 2024, 37(1): 253-272 https://doi.org/10.1007/s11424-024-3429-0
DONG Yuchen , GAO Weinan , JIANG Zhong-Ping. New Results in Cooperative Adaptive Optimal Output Regulation. Journal of Systems Science and Complexity, 2024, 37(1): 253-272 https://doi.org/10.1007/s11424-024-3429-0

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基金

The work was supported in part by the National Natural Science Foundation of China under Grant No. 62373090 and the U.S. National Science Foundation under Grant No. CNS-2227153.
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