Differential graphical games for H-infinity control of linear heterogeneous multiagent systems

Adib Yaghmaie, FarnazLinköpings universitet,Reglerteknik,Tekniska fakulteten,Nanyang Technol Univ, Singapore (författare)

Funding Agencies|Vinnova Competence Center LINK-SIC; Wallenberg Artificial Intelligence, Autonomous Systems and Software Program (WASP); GACR [16-25493Y]; ONR [N00014-17-1-2239, N00014-18-1-2221]; NSF [ECCS-1839804]; China NSFC [61633007]; NRF BCA GBIC grant on Scalable and Smart Building Energy Management [NRF2015ENC-GBICRD001-057]; MoE Academic Research on Secure and Privacy Preserving Multi-Agent Cooperation [RG94/17-(S)-SU RONG (VP)]
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.

NATURVETENSKAP Matematik Beräkningsmatematik hsv//swe
NATURAL SCIENCES Mathematics Computational Mathematics hsv//eng
differential graphical games; H-infinity control; linear heterogeneous multiagent systems

Movric, Kristian HengsterCzech Tech Univ, Czech Republic (författare)
Lewis, Frank L.Univ Texas Arlington, TX 76019 USA; Northeastern Univ, Peoples R China (författare)
Su, RongNanyang Technol Univ, Singapore (författare)
Linköpings universitetReglerteknik (creator_code:org_t)

Ingår i:International Journal of Robust and Nonlinear Control: WILEY29:10, s. 2995-30131049-89231099-1239

Av författaren/redakt...: Adib Yaghmaie, F ...; Movric, Kristian ...; Lewis, Frank L.; Su, Rong

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