講座主題：Fully Distributed Optimal Consensus for a Class of Nonlinear Multiagent Systems with Switching Topologies
專家姓名：向崢嶸
工作單位：南京理工大學(xué)自動化學(xué)院
講座時間：2023年3月25日 11:00-11:45
講座地點(diǎn)：騰訊會議：846-534-645
主辦單位：煙臺大學(xué)數(shù)學(xué)與信息科學(xué)學(xué)院
內(nèi)容摘要：
In this talk, an optimal consensus protocol is proposed for a class of leaderless second-order multi-agent systems. Any global information, including the eigenvalues of the Laplacian matrix, is unavailable in the control scheme development. The reference trajectory is designed for each agent, and the corresponding performance function, which reflects the off-track error evolution and control cost, is proposed. The sufficient condition for the synchronization of reference trajectories, which does not rely on the topology dwell time, is established by constructing an appropriate current topology independent Lyapunov function. Due to the fact that the nonlinear function in the system dynamical equation of each agent is unknown, an equation termed integral reinforcement learning equation is provided, and it is strictly proven that the provided IRL equation is equivalent to the given Hamilton–Jacobi–Bellman equation. The model-free optimal feedback control law is then derived based on the IRL technique. In the implementation of the developed control scheme, the neural network approximation tool is adopted, and the scheme is applied to a numerical system to show its effectiveness.
主講人介紹：
向崢嶸，博士、教授、博士生導(dǎo)師。1998年12月畢業(yè)于南京理工大學(xué)控制理論與控制工程專業(yè)獲得博士學(xué)位，1998年起在南京理工大學(xué)自動化學(xué)院工作至今。主持及參與多項(xiàng)國家級與省部級科研項(xiàng)目，獲得國防科技進(jìn)步二等獎，在國內(nèi)外重要期刊及會議上發(fā)表多篇高水平學(xué)術(shù)論文。目前主要從事非線性系統(tǒng)，切換控制系統(tǒng)，多智能體系統(tǒng)等方面的理論及應(yīng)用研究。
