Intermittent Event-Triggered Optimal Control for Second-Order Delayed Multiagent Systems With Input Constraints
针对非线性二阶时滞多智能体系统，提出间歇事件触发控制协议和时滞分段微分不等式，实现输入约束下的最优领导跟随一致性，并设计约束输入PI算法和在线强化学习算法来近似最优控制器。
In this article, the optimal leader-following consensus of nonlinear second-order delayed multiagent systems with input constraints is addressed. To begin with, a novel intermittent event-triggered (IET) control protocol is proposed, and a novel time-delay piecewise differential inequality is established to effectively integrate state delay, intermittent control, and event-triggered strategy. Then, by the proposed control protocol and inequality, two criteria for the consensus of the second-order delayed multiagent systems and its optimality under input saturation are derived successively. Furthermore, a constrained-input PI algorithm and a critic-only online RL algorithm are devised for designing IET optimal control and approximate IET optimal controller, respectively. Finally, two numerical examples are created to verify the efficacy of the basic research.