Optimal synchronization control for nonlinear multi-agent systems with input delay
Huaipin Zhang, Dong Yue, Wei Zhao · 2017
In this paper, optimal synchronization problem of multi-agent systems (MASs) with time-varying input delay is investigated. To remove the effect of input delay, the delayed MAS model is firstly transformed into a new discrete-time delay-free version. Then we establish an equivalence relation on the performance indexes of the two systems so as to formulate a new optimal consensus control problem of the transformed delay-free system. Based on the Bellman optimality theorem, we derive optimal consensus control policies from the coupled HJB equations. A policy iteration algorithm is introduced to learn the solutions to the HJB equations in real-time. To execute iterative ADP method, the critic neural networks (NN) are utilized to approximate the value functions and help to calculate the control policies. Finally, a numerical simulation is provided to show the effectiveness of the proposed approach.