网络拓扑
强化学习
计算机科学
观察员(物理)
多智能体系统
趋同(经济学)
控制理论(社会学)
拓扑(电路)
控制(管理)
分布式计算
人工智能
工程类
计算机网络
经济增长
量子力学
电气工程
物理
经济
作者
Deyuan Liu,Hao Liu,Jinhu Lü,Frank L. Lewis
出处
期刊:IEEE Transactions on Circuits and Systems I-regular Papers
[Institute of Electrical and Electronics Engineers]
日期:2023-06-01
卷期号:70 (6): 2550-2560
标识
DOI:10.1109/tcsi.2023.3250516
摘要
This paper investigates the optimal formation control of a heterogeneous multiagent system consisting of multiple quadrotors and ground vehicles via reinforcement learning to achieve the time-varying formation under switching topologies. A distributed observer is firstly constructed to generate references using local information for each vehicle to form time-varying formation and the convergence of the observer under switching topologies is proven. Then, reinforcement learning methods are provided for the heterogeneous vehicle group to realize the optimal tracking control without information of vehicle dynamical model. Simulation tests are given to confirm the effectiveness of the proposed method.
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