Reinforcement learning-based optimal adaptive fuzzy control for nonlinear multi-agent systems with prescribed performance

Abstract

In this paper, the problem of optimal adaptive consensus tracking control for nonlinear multi-agent systems with prescribed performance is investigated. To address the issue of satisfying the initial value conditions in existing results, an improved performance function is employed as the prescribed performance boundary, effectively resolving this problem. Then, by employing the error transformation function, the constrained system is converted into an unconstrained one. Furthermore, fuzzy logic systems are employed to identify unknown system parts. By applying the dynamic surface technique, the problem of "differential explosion", which often occurs in backstepping, is solved. Moreover, a distributed optimal adaptive fuzzy control protocol based on the reinforcement learning actor-critic algorithm is proposed. Under the proposed control scheme, it is proved that all the signals within the closed-loop system are bounded, and the consensus tracking errors have remained within the predefined bounds. Finally, the numerical simulation results demonstrate the effectiveness of the proposed scheme.

Keywords

Multi-agent system / reinforcement learning / prescribed performance / optimal consensus control / actor-critic structure