Decentralized Åström-Wittenmark Self-Tuning Regulator of a Multi-agent Uncertain Coupled ARMAX System

Hongbin Ma, K. Lum, S. Ge
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引用次数: 14

Abstract

Adaptive control for a multi-agent uncertain dynamical system is studied in this paper. The system studied has the following characteristics: (i) there are many agents in this system and the state of each agent dynamically evolves with time; (ii) for each agent, its state evolves like an ARMAX model with unknown coefficients; (iii) each agent is locally intervened by neighborhood agents with unknown linear reactions; (iv) each agent can only use its history information and local information on its neighborhood agents to design its control law aimed at achieving its own local goal, i.e. tracking a local signal sequence. In this paper, the Astrom-Wittenmark self-tuning regulator, which is a special ease (with known high-frequency gain) of extended least squares (ELS) algorithm, is adopted by each agent to estimate the local unknown parameters (including internal parameters and coupling coefficients) and control the local states based on the "certainty equivalence" principle. For the decentralized Astrom-Wittenmark self-tuning regulator discussed here, its stability and optimality are established rigorously in this paper. Simulation studies demonstrate the effectiveness of the local ELS learning and control algorithm.
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多智能体不确定耦合ARMAX系统的分散Åström-Wittenmark自整定调节器
研究了多智能体不确定动态系统的自适应控制问题。所研究的系统具有以下特点:(1)系统中存在多个智能体,且每个智能体的状态随时间动态演化;(ii)对于每个agent,其状态演变为具有未知系数的ARMAX模型;(iii)每个agent都受到具有未知线性反应的邻域agent的局部干预;(iv)每个agent只能利用自己的历史信息和邻居agent的本地信息来设计控制律,以实现自己的本地目标,即跟踪一个本地信号序列。本文采用扩展最小二乘(ELS)算法中的一种特殊的(具有已知高频增益的)astrm - wittenmark自整定调节器,每个agent根据“确定性等价”原理估计局部未知参数(包括内部参数和耦合系数)并控制局部状态。对于本文讨论的分散的Astrom-Wittenmark自整定调节器,本文严格地建立了它的稳定性和最优性。仿真研究证明了局部ELS学习和控制算法的有效性。
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