Abstract
AbstractThis chapter considers the distributed optimal consensus problem of discrete-time (DT) nonlinear multi-agent systems (MASs) with unknown dynamics. For this type of system, obtaining a coupled Hamilton–Jacobi–Bellman (HJB) equation is essential to solving the distributed optimal consensus problem. However, it is difficult to solve the coupled HJB equation of a system with unknown dynamics. In this chapter, a local value function is defined that takes into account local consensus errors, the behavior of agents, and the behavior of their neighbors. Based on adaptive dynamic programming (ADP) with the local value function, an action dependent heuristic dynamic programming based distributed consensus control method is put forward to realize the optimal consensus control (OCC). Furthermore, an ADP-based distributed model reference adaptive control method is also presented to achieve OCC for heterogeneous nonlinear MASs. Simulation examples are given to demonstrate the feasibility of the optimal consensus methods.KeywordsAdaptive dynamic programmingOptimal consensusMulti-agent systemsValue functionCoupled Hamilton–Jacobi–Bellman equation
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