Abstract
The problem of intelligent L2-L∞ consensus design for leader-followers multiagent systems (MASs) under switching topologies is investigated based on switched control theory and fuzzy deep Q learning. It is supposed that the communication topologies are time-varying, and the model of MASs under switching topologies is constructed based on switched systems. By employing linear transformation, the problem of consensus of MASs is converted into the issue of L2-L∞ control. The consensus protocol is composed of the dynamics-based protocol and learning-based protocol, where the robust control theory and deep Q learning are applied for the two parts to guarantee the prescribed performance and improve the transient performance. The multiple Lyapunov function (MLF) method and mode-dependent average dwell time (MDADT) method are combined to give the scheduling interval, which ensures stability and prescribed attenuation performance. The sufficient existing conditions of consensus protocol are given, and the solutions of the dynamics-based protocol are derived based on linear matrix inequalities (LMIs). Then, the online design of the learning-based protocol is formulated as a Markov decision process, where the fuzzy deep Q learning is utilized to compensate for the uncertainties and achieve optimal performance. The variation of the learning-based protocol is modeled as the external compensation on the dynamics-based protocol. Therefore, the convergence of the proposed protocol can be guaranteed by employing the nonfragile control theory. In the end, a numerical example is given to validate the effectiveness and superiority of the proposed method.
Highlights
The coordination control of multiagent systems (MASs) has attracted considerable attention for their broad applications in many fields [1, 2], such as formation control, cooperative attack, and attitude alignment. e MAS consists of a series of agents, which can communicate and interact with each other to realize multiple missions and adapt to the complex environment [3, 4]
Much attention has been paid to the problem of consensus of MASs because of their great potential applications in both economic and military
It is well known that the communication topology among the agents may change dramatically over time to adjust to multiple missions and complex environments [8, 9], such as the MASs can realize obstacle avoidance and higher flight efficiency by formation transformation [10, 11]. e design flexibility, security, and performance of convergence will be improved, which motivated the studies on the switching topologies of MASs
Summary
The coordination control of MASs has attracted considerable attention for their broad applications in many fields [1, 2], such as formation control, cooperative attack, and attitude alignment. e MAS consists of a series of agents, which can communicate and interact with each other to realize multiple missions and adapt to the complex environment [3, 4]. By employing the Lyapunov function method and LMIs technique, the sufficient existing conditions and solutions of control protocol are given in the form of LMIs. In [25], the problem of timevarying formation of second-order discrete-time MASs under switching topologies and the time delay is investigated. E PID-based output-feedback control protocol is provided to ensure that all followers can track a time-varying formation reference, where communication delays and external disturbance are taken into consideration. To the best of the authors’ knowledge, the intelligent consensus design for MASs with considerations of stability, robustness, and optimal transient performance has not been fully studied yet. E MDADT method and multiple Lyapunov function method are combined to guarantee the stability and prescribed attenuation performance index, which can obtain tighter bounds on dwell time and less conservative results.
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