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Distributed Optimal Consensus Control for Multiagent Systems With Input Delay
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1073k
资源说明：This paper addresses the problem of distributed
optimal consensus control for a continuous-time heterogeneous
linear multiagent system subject to time varying input
delays. First, by discretization and model transformation, the
continuous-time input-delayed system is converted into a discretetime
delay-free system. Two delicate performance index functions
are defined for these two systems. It is shown that the
performance index functions are equivalent and the optimal
consensus control problem of the input-delayed system can be
cast into that of the delay-free system. Second, by virtue of
the Hamilton–Jacobi–Bellman (HJB) equations, an optimal control
policy for each agent is designed based on the delay-free
system and a novel value iteration algorithm is proposed to
learn the solutions to the HJB equations online. The proposed
adaptive dynamic programming algorithm is implemented on the
basis of a critic-action neural network (NN) structure. Third, it
is proved that local consensus errors of the two systems and
weight estimation errors of the critic-action NNs are uniformly
ultimately bounded while the approximated control policies converge
to their target values. Finally, two simulation examples
are presented to illustrate the effectiveness of the developed
method.
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