Distributed Differential Graphical Game for Control of Double-Integrator Multi-Agent Systems with Input Delay

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Distributed Differential Graphical Game for Control of Double-Integrator Multi-Agent Systems with Input Delay

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Distributed Differential Graphical Game for Control of Double-Integrator Multi-Agent Systems with Input Delay

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Control of Network Systems

ISSN

2325-5870

e-ISSN

2372-2533

Svazek periodika

11

Číslo periodika v rámci svazku

4

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

13

Strana od-do

1949-1961

Kód UT WoS článku

001413492800016

EID výsledku v databázi Scopus

2-s2.0-85186979626