TY - JOUR
T1 - Cooperative Robust H-∞ Output Consensus in Continuous-Time Heterogeneous Multi-Agent Systems Using Integral Reinforcement Learning Method
TT - اجماع خروجی مشارکتی مقاوم ∞-H برای سیستم های چند عاملی ناهمگن پیوسته با استفاده از روش یادگیری تقویتی انتگرالی
JF - joc-isice
JO - joc-isice
VL - 14
IS - 4
UR - http://joc.kntu.ac.ir/article-1-726-en.html
Y1 - 2021
SP - 81
EP - 92
KW - Robust Cooperative Output Consensus
KW - Equivalent Auxiliary System
KW - Control H-∞
KW - Reinforcement Learning.
N2 - : The Robust Cooperative Output Consensus (RCOC) in continuous time Heterogeneous Multi-Agent Systems with the directed graph is addressed. In the standard solution of the RCOC, the p-copy internal model method is used. This method requires dynamical equations of the agents and the leader. In the present paper, based on the equivalent auxiliary system method, a new auxiliary system is obtained. Then, the RCOC is transformed to a control problem. Moreover, a model-free algorithm is proposed to solve the Robust Algebraic Riccati Equation using the Integral Reinforcement Learning (IRL) method. It is shown that the proposed method satisfies the output regulation equations. A simulation example verifies the effectiveness of the proposed method.
M3
ER -