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

• Tipo: Artigo em Revista Científica Internacional
• Data: 2021

Autores

João P. Belfo (Autor) Outra; António Pedro Aguiar (Autor) FEUP; João M. Lemos (Autor) Outra

Revista

Título: IEEE Control Systems Letters

Vol. 5

Páginas: 2096-2101

Editora: IEEE

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 1 Citação

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6