Paper Info
Title
Neural-Network-Based Consensus Control for Multiagent Systems With Input Constraints: The Event-Triggered Case.
Abstract
In this paper, the neural-network (NN)-based consensus control problem is investigated for a class of discrete-time nonlinear multiagent systems (MASs) with a leader subject to input constraints. Relative measurements related to local tracking errors are collected via some smart sensors. A local nonquadratic cost function is first introduced to evaluate the control performance with input constraints. Then, in view of the relative measurements, an NN-based observer under the event-triggered mechanism is designed to reconstruct the dynamics of the local tracking errors, where the adopted event-triggered condition has a time-dependent threshold and the weight of NNs is updated via a new adaptive tuning law catering to the employed event-triggered mechanism. Furthermore, an ideal control policy is developed for the addressed consensus control problem while minimizing the prescribed local nonquadratic cost function. Moreover, an actor–critic NN scheme with online learning is employed to realize the obtained control policy, where the critic NN is a three-layer structure with powerful approximation capability. Through extensive mathematical analysis, the consensus condition is established for the underlying MAS, and the boundedness of the estimated errors is proven for actor and critic NN weights. In addition, the effect from the adopted event-triggered mechanism on the local cost is thoroughly discussed, and the upper bound of the corresponding increment is derived in comparison with time-triggered cases. Finally, a simulation example is utilized to illustrate the usefulness of the proposed controller design scheme.
Year
DOI
Venue
2020
10.1109/TCYB.2019.2927471
IEEE Transactions on Cybernetics
Keywords
DocType
Volume
Artificial neural networks,Optimal control,Cost function,Multi-agent systems,Observers,Tuning,Topology
Journal
50
Issue
ISSN
Citations 
8
2168-2267
14
PageRank 
References 
Authors
0.51
22
3
Name
Order
Citations
PageRank
Derui Ding1122746.37
Zidong Wang211003578.11
Qing-Long Han36396315.39