Distributed Differential Graphical Game for Control of Double-Integrator Multi-Agent Systems with Input Delay
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00374542" target="_blank" >RIV/68407700:21230/24:00374542 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/TCNS.2024.3371594" target="_blank" >https://doi.org/10.1109/TCNS.2024.3371594</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TCNS.2024.3371594" target="_blank" >10.1109/TCNS.2024.3371594</a>
Alternative languages
Result language
angličtina
Original language name
Distributed Differential Graphical Game for Control of Double-Integrator Multi-Agent Systems with Input Delay
Original language description
This paper studies cooperative control of noncooperative double-integrator multi-agent systems (MASs) with input delay on connected directed graphs in the context of a differential graphical game (DGG). In the distributed DGG, each agent seeks a distributed information control policy by optimizing an individual local performance index (PI) of distributed information from its graph neighbors. The local PI, which quadratically penalizes the agent's deviations from cooperative behavior (e.g., the consensus here), is constructed through the use of the graph Laplacian matrix. For DGGs for double-integrator MASs, the existing body of literature lacks the explicit characterization of Nash equilibrium actions and their associated state trajectories with distributed information. To address this issue, we first convert the N -player DGG with m communication links into m coupled optimal control problems (OCPs), which, in turn, convert to the two-point boundary-value problem (TPBVP). We derive the explicit solutions for the TPBV that constitute the explicit distributed information expressions for Nash equilibrium actions and the state trajectories associated with them for the DGG. An illustrative example verifies the explicit solutions of local information to achieve fully distributed consensus.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Control of Network Systems
ISSN
2325-5870
e-ISSN
2372-2533
Volume of the periodical
11
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
13
Pages from-to
1949-1961
UT code for WoS article
001413492800016
EID of the result in the Scopus database
2-s2.0-85186979626