Abstract
A new optimal distributed synchronization control scheme for the consensus problem of heterogeneous multiagent differential graphical games is developed by iterative adaptive dynamic programming. The main idea is to use the iterative adaptive dynamic programming technique to obtain the iterative control law which makes all the agents track a given dynamics and simultaneously makes the iterative value function reach the Nash equilibrium. In the heterogeneous multiagent differential graphical games developed, the agent for each node is different from the agents for the other nodes. The dynamics and performance index function for each node depend only on local neighborhood information. A cooperative policy iteration algorithm is presented to achieve the optimal distributed synchronization control law for the agent of each node, where the coupled Hamilton-Jacobi equations for optimal synchronization control of heterogeneous multiagent differential games can be avoided. Convergence analysis is developed to show that the iterative value functions of heterogeneous multiagent differential graphical games can converge to the Nash equilibrium. Two simulation examples are given to show the effectiveness of the optimal control scheme developed.
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