Robust Near-Optimal Coordination in Uncertain Multiagent Networks With Motion Constraints
针对带有速度饱和与碰撞避免约束的非线性不确定多智能体网络，提出一种基于神经网络的在线学习协调策略，同时实现多智能体协调与碰撞避免，并保证闭环系统稳定。
This article addresses the robust coordination problem for nonlinear uncertain second-order multiagent networks with motion constraints, including velocity saturation and collision avoidance. A single-critic neural network-based approximate dynamic programming approach and exact estimation of unknown dynamics are employed to learn online the optimal value function and controller. By incorporating avoidance penalties into tracking variable, constructing a novel value function, and designing of suitable learning algorithms, multiagent coordination and collision avoidance are achieved simultaneously. We show that the developed feedback-based coordination strategy guarantees uniformly ultimately bounded convergence of the closed-loop dynamical stability and all underlying motion constraints are always strictly obeyed. The effectiveness of the proposed collision-free coordination law is finally illustrated using numerical simulations.