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Model-Free Event-Triggered Optimal Consensus Control of Multiple Euler-Lagrange Systems via Reinforcement Learning
Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China.
Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China.
Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Datavetenskap. School of Electrical and Data Engineering, University of Technology Sydney, Australia; Department of Computer Science and Technology, Fuzhou University, Fuzhou 350116, China.ORCID-id: 0000-0003-1902-9877
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2021 (engelsk)Inngår i: IEEE Transactions on Network Science and Engineering, E-ISSN 2327-4697, Vol. 8, nr 1, s. 246-258Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper develops a model-free approach to solve the event-triggered optimal consensus of multiple Euler-Lagrange systems (MELSs) via reinforcement learning (RL). Firstly, an augmented system is constructed by defining a pre-compensator to circumvent the dependence on system dynamics. Secondly, the Hamilton-Jacobi-Bellman (HJB) equations are applied to the deduction of the model-free event-triggered optimal controller. Thirdly, we present a policy iteration (PI) algorithm derived from reinforcement learning (RL), which converges to the optimal policy. Then, the value function of each agent is represented through a neural network to realize the PI algorithm. Moreover, the gradient descent method is used to update the neural network only at a series of discrete event-triggered instants. The specific form of the event-triggered condition is then proposed, and it is guaranteed that the closed-loop augmented system under the event-triggered mechanism is uniformly ultimately bounded (UUB). Meanwhile, the Zeno behavior is also eliminated. Finally, the validity of this approach is verified by a simulation example.

sted, utgiver, år, opplag, sider
IEEE, 2021. Vol. 8, nr 1, s. 246-258
Emneord [en]
Reinforcement learning, event-triggered control, Euler-Lagrange system, augmented system
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Identifikatorer
URN: urn:nbn:se:ltu:diva-81463DOI: 10.1109/TNSE.2020.3036604ISI: 000631202700021Scopus ID: 2-s2.0-85096869102OAI: oai:DiVA.org:ltu-81463DiVA, id: diva2:1502244
Merknad

Validerad;2021;Nivå 2;2021-04-06 (alebob);

Finansiär: National Key Research and Development Program of China (2018YFC0809302); National Natural Science Foundation of China (61751305, 61673176); Program of Shanghai Academic Research Leader (20XD1401300); Programme of Introducing Talents of Discipline to Universities (B17017)

Tilgjengelig fra: 2020-11-19 Laget: 2020-11-19 Sist oppdatert: 2025-10-22bibliografisk kontrollert

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Vasilakos, Athanasios V.

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