Leader-Follower Optimal Bipartite Consensus Control for Multi-agent systems with Time-delay Using Reinforcement Learning Method

Abstract

This paper deals with the optimal bipartite consensus control (OBCC) for heterogeneous multi-agent systems (MASs) with time-delay based on reinforcement learning (RL) scheme. MASs, denoted by communication network, is modeled as a signed graph, and the competitive (cooperative) relationship is represented by negative (positive) edges. Firstly, Heterogeneous MASs is depicted by cooperative and competitive (hereinafter referred to as coopetition) network, and local neighborhood bipartite consensus errors and their performance index function (PIF) are put forward to formulate OBCC problem. Secondly, a proper model reduction method is developed to tackle time-delay in coopetition network, and then MASs with time-delay can be transformed into a delay-free MASs. Thirdly, a RL algorithm is employed to solve the solution of Hamilton-Jacobi-Bellman (HJB) equations under OBCC laws, and substantially we adopt neural networks (NNs) to calculate the control policy and PIF online. Finally, the pivotal simulation validates availability of proposed algorithm.