Distributed Inverse Optimal Control for Discrete-Time Nonlinear Multi-Agent Systems

• Type: Article in International Scientific Journal
• Date: 2021

Authors

João P. Belfo (Author) Other; António Pedro Aguiar (Author) FEUP; João M. Lemos (Author) Other

Journal

Title: IEEE Control Systems Letters

Vol. 5

Pages: 2096-2101

Publisher: IEEE

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Other information

Authenticus ID: P-00T-QPA

DOI: 10.1109/lcsys.2021.3050093

Abstract (EN): This letter describes a robust distributed inverse optimal control framework for a multi-agent discrete-time nonlinear system, where the dynamics of each agent is directly affected by terms that depend on the state and input of the neighborhood agents and other disturbance signals. The individual local cost is formulated and a control solution for each agent is derived considering an inverse optimal control approach. To address the interaction between the agents, a coordination method based on a non-cooperative game is proposed. Using Lyapunov and Input-to-State Stability (ISS) arguments, we derive conditions under which the proposed game converges to a fixed point and the overall multi-agent system is ISS with respect to the disturbance signals. Simulation results for a coupled pendula system are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6