Abstract
This paper investigates a class of optimal formation control scheme for cooperative second-order multi-agent system. Different from the traditional solution for the first-order multi-agent system, a value-iteration-based formation control policy is developed for the second-order multi-agent system with the discounted performance index function. With the introduction of value iteration, the initial admissible control policy is no need for the learning process. Besides, the proofs of stability, convergence and optimality are illustrated in detail, and the actor-critic scheme is introduced for value iteration algorithm. Finally, a simulation is provided to verify the effectiveness of our proposed method to solve cooperative formation control problem of second-order multi-agent system.
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