Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs

doi:10.1109/JAS.2022.105542

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	Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs
	Min Wang; Haotian Shi; Cong Wang
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:10 页码:1831-1844
关键词	Cooperative learning control directed graphs discrete-time nonlinear system neural networks (NNs) strict-feedback systems
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105542
英文摘要	This paper focuses on the distributed cooperative learning (DCL) problem for a class of discrete-time strict-feedback multi-agent systems under directed graphs. Compared with the previous DCL works based on undirected graphs, two main challenges lie in that the Laplacian matrix of directed graphs is nonsymmetric, and the derived weight error systems exist n-step delays. Two novel lemmas are developed in this paper to show the exponential convergence for two kinds of linear time-varying (LTV) systems with different phenomena including the nonsymmetric Laplacian matrix and time delays. Subsequently, an adaptive neural network (NN) control scheme is proposed by establishing a directed communication graph along with n-step delays weight updating law. Then, by using two novel lemmas on the extended exponential convergence of LTV systems, estimated NN weights of all agents are verified to exponentially converge to small neighbourhoods of their common optimal values if directed communication graphs are strongly connected and balanced. The stored NN weights are reused to structure learning controllers for the improved control performance of similar control tasks by the “mod” function and proper time series. A simulation comparison is shown to demonstrate the validity of the proposed DCL method.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49712]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Min Wang,Haotian Shi,Cong Wang. Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(10):1831-1844.
APA	Min Wang,Haotian Shi,&Cong Wang.(2022).Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs.IEEE/CAA Journal of Automatica Sinica,9(10),1831-1844.
MLA	Min Wang,et al."Distributed Cooperative Learning for Discrete-Time Strict-Feedback Multi Agent Systems Over Directed Graphs".IEEE/CAA Journal of Automatica Sinica 9.10(2022):1831-1844.