Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs  

作　　者：Min Wang Haotian Shi Cong Wang 

机构地区：[1]IEEE [2]the School of Automation Science and Engineering,South China University of Technology,Guangzhou 510641 [3]Peng Cheng Laboratory,Shenzhen 518055,China [4]the School of Control Science and Engineering,Shandong University,Jinan 250061,China [5]the Center for Intelligent Medical Engineering,Shandong University,Jinan 250061,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第10期1831-1844,共14页自动化学报（英文版）

基　　金：supported in part by the Guangdong Natural Science Foundation(2019B151502058);in part by the National Natural Science Foundation of China(61890922,61973129);in part by the Major Key Project of PCL(PCL2021A09);in part by the Guangdong Basic and Applied Basic Research Foundation(2021A1515012004)。

摘　　要：This paper focuses on the distributed cooperative learning(DCL)problem for a class of discrete-time strict-feedback multi-agent systems under directed graphs.Compared with the previous DCL works based on undirected graphs,two main challenges lie in that the Laplacian matrix of directed graphs is nonsymmetric,and the derived weight error systems exist n-step delays.Two novel lemmas are developed in this paper to show the exponential convergence for two kinds of linear time-varying(LTV)systems with different phenomena including the nonsymmetric Laplacian matrix and time delays.Subsequently,an adaptive neural network(NN)control scheme is proposed by establishing a directed communication graph along with n-step delays weight updating law.Then,by using two novel lemmas on the extended exponential convergence of LTV systems,estimated NN weights of all agents are verified to exponentially converge to small neighbourhoods of their common optimal values if directed communication graphs are strongly connected and balanced.The stored NN weights are reused to structure learning controllers for the improved control performance of similar control tasks by the“mod”function and proper time series.A simulation comparison is shown to demonstrate the validity of the proposed DCL method.

关 键 词：Cooperative learning control directed graphs discrete-time nonlinear system neural networks(NNs) strict-feedback systems 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]