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Reinforcement learning-based unknown reference tracking control of HMASs with nonidentical communication delays

Science China(Information Sciences) 2023年第7期66卷 46-57页

作者： Yong XU Zheng-Guang WU Wei-Wei CHE Deyuan MENG School of Automation Beijing Institute of Technology Institute of Cyber-Systems and Control Zhejiang University College of Mathematics and Computer Science Zhejiang Normal University Department of Automation Qingdao University School of Automation Science and Electrical Engineering Beihang University(BUAA)

This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning method.Compared with existing studies assuming that the precise model of the leader is globally or distributively accessible to all or some of the followers, the leader’s precise dynamical model is entirely inaccessible to all the followers in this paper. A data-based learning algorithm is first proposed to reconstruct the leader’s unknown system matrix online. A distributed predictor subject to communication delays is further devised to estimate the leader’s state, where interaction delays are allowed to be nonidentical. Then, a learning-based local controller, together with a discounted performance function, is projected to reach the optimal output synchronization. Bellman equations and game algebraic Riccati equations are constructed to learn the optimal solution by developing a model-based reinforcement learning(RL) algorithm online without solving regulator equations, which is followed by a model-free off-policy RL algorithm to relax the requirement of all agents’ dynamics faced by the model-based RL algorithm. The optimal tracking control of HMASs subject to unknown leader dynamics and communication delays is shown to be solvable under the proposed RL algorithms. Finally, the effectiveness of theoretical analysis is verified by numerical simulations.

关键词： heterogeneous multiagent systems HMAS reinforcement learning RL optimal output synchronization communication delays

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Cyclic-Pursuit-Based Circular Formation Control of Mobile Agents with Limited communication Ranges and communication delays

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1860-1870页

作者： Boyin Zheng Cheng Song Lu Liu Department of Biomedical Engineering City University of Hong KongHong KongChina School of Automation Nanjing University of Science and TechnologyNanjing 210094China IEEE

This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays.To minimize the number of communication links,a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information.In contrast to existing works,we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously.A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same time.It is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed controller.Finally,the effectiveness of the proposed method is illustrated by some simulation examples.

关键词： Circular formation control communication delays cyclic pursuit heterogeneous communication ranges

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Containment consensus with measurement noises and time-varying communication delays

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Chinese Physics B 2015年第2期24卷 23-29页

作者：周峰王正杰范宁军 School of Electromechanical Engineering Beijing Institute of Technology

In this paper,we consider the containment consensus control problem for multi-agent systems with measurement noises and time-varying communication delays under directed networks.By using stochastic analysis tools and algebraic graph theory,we prove that the followers can converge to the convex hull spanned by the leaders in the sense of mean square if the allowed upper bound of the time-varying delays satisfies a certain sufficient condition.Moreover,the time-varying delays are asymmetric for each follower agent,and the time-delay-dependent consensus condition is derived.Finally,numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

关键词： multi-agent systems containment consensus noise communication delays

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Model-based predictive controller design for a class of nonlinear networked systems with communication delays and data loss

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Chinese Physics B 2014年第8期23卷 211-216页

作者：安宝冉刘国平 Center for Control Theory and Guidance Technology Harbin Institute of Technology School of Engineering University of South Wales

This paper discusses the model-based predictive controller design of networked nonlinear systems with communica- tion delay and data loss. Based on the analysis of the closed-loop networked predictive control systems, the model-based networked predictive control strategy can compensate for communication delay and data loss in an active way. The designed model-based predictive controller can also guarantee the stability of the closed-loop networked system. The simulation re- suits demonstrate the feasibility and efficacy of the proposed model-based predictive controller design scheme.

关键词： communication delays data loss model-based networked predictive control

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Event-based bipartite multi-agent consensus with partial information transmission and communication delays under antagonistic interactions

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Science China(Information Sciences) 2020年第5期63卷 48-60页

作者： Lulu LI Xiaoyang LIU Wei HUANG School of Mathematics Hefei University of Technology School of Computer Science and Technology Jiangsu Normal University

This paper mainly concentrates on the event-based bipartite consensus(BCs) in multi-agent networks(MANs) with partial information transmission(PIT) and communication delays. Two types of communication constraints, i.e., time delays and partial information transmission, make the BCs problem in MANs more challenging and practical. A distributed event-triggered scheme(ETS) is proposed for the considered MANs. Based on the proposed ETS, it is observed that the addressed MANs reaches BCs provided that the network is balanced. A numerical example is presented to demonstrate the effectiveness of the theoretical results.

关键词： bipartite consensus event-triggered control communication delays partial information transmission

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Consensus of single integrator multi-agent systems with directed topology and communication delays

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Control Theory and Technology 2016年第1期14卷 21-27页

作者： Xiang XU Lu LIU Gang FENG Department of Mechanical and Biomedical Engineering City University of Hong Kong Kowloon Hong Kong China

In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.

关键词： Consensus directed fixed topology single integrator multi-agent systems communication delays

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Actuator-Fault-Tolerant Trajectory Tracking Control for Multi-Robot System under Directed Network Topologies and communication delays

Actuator-Fault-Tolerant Trajectory Tracking Control for Mult...

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第36届中国控制会议

作者： Zhe Liu Junguo Lu Hesheng Wang Weidong Chen Yun-Hui Liu Department of Mechanical and Automation Engineering Chinese University of Hong Kong Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information ProcessingMinistry of Education of China

ISBN: (纸本)9781538629185

The synchronized trajectory tracking control problem of multiple mobile robots under actuator faults is studied in this paper.We take the communication delays into consideration in system design and do not require that the network topology is symmetric.A distributed control design approach is proposed by incorporating the synchronized formation control method and a sufficient condition is obtained to guarantee the asymptotic convergence of both the position error and synchronization error of each robot.Simulation results validate that the proposed approach achieves synchronized trajectory tracking tasks under unidirectional topologies with actuator faults and coupling delays.

关键词： Actuator Faults communication delays Multi-robot Network Synchronized Trajectory Tracking

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Robust Attitude Control of a 3-DOF Helicopter considering communication delays

Robust Attitude Control of a 3-DOF Helicopter considering Co...

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第三十九届中国控制会议

作者： Huachao Peng Xiaoyuan Zhu Merchant Marine College Shanghai Maritime University

This paper proposed a robust attitude controller design for unmanned helicopter under remote communication delays.Based on dynamical model of helicopter system, Lyapunov-Krasovskii theory is utilized in the stability analysis of proposed attitude controller design. Energy-to-energy strategy is used to ensure the robust performance of proposed controller against remote communication delays as well as payload disturbances. And the controller gains are obtained by solving a set of linear matrix inequalities（LMI）. Based on Quanser’s laboratory 3-DOF helicopter platform, both simulation and experimental tests are carried out to show the effectiveness and performance of proposed robust attitude controller. Compared with conventional sliding mode controller, the superiority of proposed controller is demonstrated.

关键词： Robust attitude control Unmanned helicopter communication delays LMI

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Time-Varying Formation Tracking Control for Multi-UAV Systems with Directed Graph and communication delays

Time-Varying Formation Tracking Control for Multi-UAV System...

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第40届中国控制会议

作者： Zhenwei Ma Juntong Qi Mingming Wang Chong Wu Jinjin Guo Songbo Yuan School of Electrical and Information Engineering Tianjin University EFY Intelligent Control (Tianjin) Technology Co. Ltd

In this paper, we investigate the time-varying formation tracking（TVFT） control problem for multiple unmanned aerial vehicles（multi-UAVs） with directed interaction topology and communication delays. Firstly, each UAV is modeled by the double integrator for the TVFT control problem. Then a consensus based protocol utilizing neighboring relative state information with time-varying delays is constructed. Sufficient conditions for multi-UAV systems with communication delays to achieve TVFT are illustrated and the stability of the proposed control protocol is shown based on Lyapunov-Krasovskii functional approach.Furthermore, we present a multi-UAV system to verify the proposed protocol. The architecture of the multi-UAV system which consists of four quadrotors is introduced. Finally, numerical simulations and flying experiments are presented to illustrate the feasibility and effectiveness of the proposed control protocol.

关键词： Formation tracking control Multi-UAV system communication delays Consensus

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Consensus of Multi-agent System with Diverse communication delays

Consensus of Multi-agent System with Diverse Communication D...

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第二十六届中国控制会议

作者： Liu Chenglin,Tian Yuping School of Automation,Southeast University,Nanjing 210096,P.R.China

In this paper,a protocol is proposed to solve the consensus problem of multi-agent system with diverse communication delays.Sufficient conditions for the convergence to a consensus are obtained based on the frequency-domain analysis and matrix theory.The conditions depend on each agent’s self-delay,the weights of the edges to each agent’s neighbors,and the interconnection topology of the network.Under the proposed protocol,introducing self-delay can speed up the convergence rate for the system with communication delays.Moreover,the communication delays do not influence the convergence;they prolong the converging time instead.Simulation results illustrate the correctness of the results.

关键词： Consensus Multi-agent system communication delays Coordination

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