Differential graphical games for H∞ control of linear heterogeneous multiagent systems

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 nove...

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Main Authors: Farnaz Adib Yaghmaie, Hengster-Movric, Kristian, Lewis, Frank L., Su, Rong
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2021
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Online Access:https://hdl.handle.net/10356/150034
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1500342021-05-31T03:01:09Z Differential graphical games for H∞ control of linear heterogeneous multiagent systems Farnaz Adib Yaghmaie Hengster-Movric, Kristian Lewis, Frank L. Su, Rong School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Differential Graphical Games H∞ Control 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 L₂ -gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example. Ministry of Education (MOE) National Research Foundation (NRF) Farnaz Adib Yaghmaie is supported by the Vinnova Competence Center LINK-SIC and by the Wallenberg Artificial Intelligence, Autonomous Systems and Software Program (WASP). Kristian Hengster Movric is supported by the GACR grant 16-25493Y. Frank l. Lewis is supported by the ONR grant N00014-17-1-2239, ONR Grant N00014-18-1-2221, NSF Grant ECCS-1839804, and the National Natural Science Foundation of China Grant 61633007. Rong Su is supported by the NRF BCA GBIC grant on Scalable and Smart Building Energy Management (NRF2015ENC-GBICRD001-057) and the MoE Academic Research Grant on Secure and Privacy Preserving Multiagent Cooperation (RG94/17-(S)-SU RONG (VP)). 2021-05-31T03:01:09Z 2021-05-31T03:01:09Z 2019 Journal Article Farnaz Adib Yaghmaie, Hengster-Movric, K., Lewis, F. L. & Su, R. (2019). Differential graphical games for H∞ control of linear heterogeneous multiagent systems. International Journal of Robust and Nonlinear Control, 29(10), 2995-3013. https://dx.doi.org/10.1002/rnc.4538 1049-8923 0000-0002-6665-5881 https://hdl.handle.net/10356/150034 10.1002/rnc.4538 2-s2.0-85063694725 10 29 2995 3013 en NRF2015ENC-GBICRD001-057 RG94/17-(S)-SU RONG (VP) International Journal of Robust and Nonlinear Control © 2019 John Wiley & Sons, Ltd. All rights reserved.
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Differential Graphical Games
H∞ Control
spellingShingle Engineering::Electrical and electronic engineering
Differential Graphical Games
H∞ Control
Farnaz Adib Yaghmaie
Hengster-Movric, Kristian
Lewis, Frank L.
Su, Rong
Differential graphical games for H∞ control of linear heterogeneous multiagent systems
description 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 L₂ -gain of the output synchronization error with respect to disturbance. We demonstrate our developments by a simulation example.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Farnaz Adib Yaghmaie
Hengster-Movric, Kristian
Lewis, Frank L.
Su, Rong
format Article
author Farnaz Adib Yaghmaie
Hengster-Movric, Kristian
Lewis, Frank L.
Su, Rong
author_sort Farnaz Adib Yaghmaie
title Differential graphical games for H∞ control of linear heterogeneous multiagent systems
title_short Differential graphical games for H∞ control of linear heterogeneous multiagent systems
title_full Differential graphical games for H∞ control of linear heterogeneous multiagent systems
title_fullStr Differential graphical games for H∞ control of linear heterogeneous multiagent systems
title_full_unstemmed Differential graphical games for H∞ control of linear heterogeneous multiagent systems
title_sort differential graphical games for h∞ control of linear heterogeneous multiagent systems
publishDate 2021
url https://hdl.handle.net/10356/150034
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