Distributed inverse optimal control for discrete-time nonlinear multi-agent systems

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

Belfo, JP (Author) Other; Aguiar, AP (Author) FEUP; Lemos, JM (Author) Other

Conference proceedings International

Title: 2021 AMERICAN CONTROL CONFERENCE (ACC)

Pages: 2661-2666

American Control Conference (ACC)

ELECTR NETWORK, MAY 25-28, 2021

Indexing

ISI Web of Knowledge - 0 Citations

Other information

Authenticus ID: P-00V-9FF

Abstract (EN): This paper 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