A Robust Distributed Recurrent Neural Network for Multi-Agent Consensus Control
Yiwei Li, Jiaxin Liu, Lin Yang, Yating Zhang, Kunlin Liu, Ge Zhou, Liangze Yin, Wei Yu Dong · 2025
Recurrent Neural Networks (RNNs) are widely used in control system due to their dynamic capabilities. However, the control accuracy of RNN-based systems can be compromised by noise interference, and there has been little research on RNN-based control in disturbed multi-agent systems. To address this, we developed an enhanced Distributed RNN (DRNN) structure and proposed a Novel DRNN-based Control Protocol (NDRNN-CP). This enhancement involves introducing a time-delay component, allowing the protocol to adaptively learn noise variation patterns. As a result, the NDRNN-CP effectively resists various periodic noise interferences and achieves more precise control of each agent. Additionally, our optimized activation function ensures that all agents reach consensus within a predefined time. To demonstrate the advantages of NDRNN-CP, we conducted extensive experiments that confirmed its significant improvements in noise signal resistance and convergence performance.