Differential graphical games for H∞ control of linear heterogeneous multiagent systems
Abstract
Differential graphical games have been introduced in the literature to solve state synchronization problem for linear homogeneous agents. When the agents are heterogeneous, the previous notion of graphical games cannot be used anymore and a new definition is required. In this paper, we define a novel concept of differential graphical games for linear heterogeneous agents subject to external unmodeled disturbances, which contain the previously introduced graphical game for homogeneous agents as a special case. Using our new formulation, we can solve both the output regulation and H∞ output regulation problems. Our graphical game framework yields coupled Hamilton‐Jacobi‐Bellman equations, which are, in general, impossible to solve analytically. Therefore, we propose a new actor‐critic algorithm to solve these coupled equations numerically in real time. Moreover, we find an explicit upper bound for the overall ‐gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Apr 02, 2019
- Source ID
- 10.1002/rnc.4538
Entities
People
- Farnaz Adib Yaghmaie
- Frank L. Lewis
- Kristian Hengster Movric
- Rong Su
Organizations
- Czech Science Foundation
- Czech Technical University in Prague
- Linköping University
- Ministry of Education of the People's Republic of China
- Nanyang Technological University
- National Natural Science Foundation of China
- National Science Foundation
- Neurosciences Research Foundation
- Northeastern University
- Office of Naval Research
- Swedish Governmental Agency for Innovation Systems
- University of Texas at Arlington