Decentralized Control of Nonlinear Multi-Agent Systems Using Single Network Adaptive Critics

Author

Ali Heydari, Missouri University of Science and TechnologyFollow
S. N. Balakrishnan, Missouri University of Science and TechnologyFollow

Abstract

The problem of decentralized control of multi-agent nonlinear systems is solved by introducing the concept of virtual agents to generate reference trajectories to be tracked by the actual agents. The tracking problem as an optimal control problem is formulated in the framework of approximate dynamic programming. Solutions are obtained using single network adaptive critics and network weight update rule is discussed. Finally, the proposed theory is simulated on the network of several satellites to reach consensus on their attitude. Numerical results demonstrate the versatility and usefulness of the proposed approach. © 2012 IEEE.

Recommended Citation

A. Heydari and S. N. Balakrishnan, "Decentralized Control of Nonlinear Multi-Agent Systems Using Single Network Adaptive Critics," Proceedings of the International Joint Conference on Neural Networks, Institute of Electrical and Electronics Engineers (IEEE), Jan 2012.

The definitive version is available at https://doi.org/10.1109/IJCNN.2012.6252850

Meeting Name

Proceedings of the International Joint Conference on Neural Networks (2012, Brisbane, QLD)

Department(s)

Mechanical and Aerospace Engineering

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2012 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 2012