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1.	Adib Yaghmaie, Farnaz, et al. (författare) Differential graphical games for H-infinity control of linear heterogeneous multiagent systems 2019 Ingår i: International Journal of Robust and Nonlinear Control. - : WILEY. - 1049-8923 .- 1099-1239. ; 29:10, s. 2995-3013 Tidskriftsartikel (refereegranskat)abstract Differential graphical games have been introduced in the literature to solve state synchronization problem for linear homogeneous agents. When the agents are heterogeneous, the previous notion of graphical games cannot be used anymore and a new definition is required. In this paper, we define a novel concept of differential graphical games for linear heterogeneous agents subject to external unmodeled disturbances, which contain the previously introduced graphical game for homogeneous agents as a special case. Using our new formulation, we can solve both the output regulation and H-infinity output regulation problems. Our graphical game framework yields coupled Hamilton-Jacobi-Bellman equations, which are, in general, impossible to solve analytically. Therefore, we propose a new actor-critic algorithm to solve these coupled equations numerically in real time. Moreover, we find an explicit upper bound for the overall L2-gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example.

Adib Yaghmaie, Farnaz, et al. (författare)
Differential graphical games for H-infinity control of linear heterogeneous multiagent systems
2019
Ingår i: International Journal of Robust and Nonlinear Control. - : WILEY. - 1049-8923 .- 1099-1239. ; 29:10, s. 2995-3013
Tidskriftsartikel (refereegranskat)abstract
- Differential graphical games have been introduced in the literature to solve state synchronization problem for linear homogeneous agents. When the agents are heterogeneous, the previous notion of graphical games cannot be used anymore and a new definition is required. In this paper, we define a novel concept of differential graphical games for linear heterogeneous agents subject to external unmodeled disturbances, which contain the previously introduced graphical game for homogeneous agents as a special case. Using our new formulation, we can solve both the output regulation and H-infinity output regulation problems. Our graphical game framework yields coupled Hamilton-Jacobi-Bellman equations, which are, in general, impossible to solve analytically. Therefore, we propose a new actor-critic algorithm to solve these coupled equations numerically in real time. Moreover, we find an explicit upper bound for the overall L2-gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example.

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