Optimal control of discrete-time nonlinear heterogeneous multi-agent systems via a distributed DISOPE algorithm

A distributed offline DISOPE algorithm for optimal state synchronization of leader-follower systems with nonlinear discrete-time dynamics is considered, which integrates the model optimization idea and parameter estimation technique together. It can be seen that the convergent solutions of modified linear optimal control problems satisfy the optimality conditions of the original nonlinear optimization problem with non-LQ performance indices. The heterogeneous agents can cooperate and exchange information via network communication. Based on DISOPE algorithm, a distributed optimal control policy is obtained to assure state synchronization and minimize performance indices in finite time horizon. Finally, a simulation example is provided to illustrate the effectiveness of the distributed DISOPE algorithm.

Automated summary

This paper considers a distributed offline DISOPE algorithm for optimal state synchronization of leader-follower systems with nonlinear discrete-time dynamics, which integrates the model optimization idea and parameter estimation technique. The algorithm provides a distributed optimal control policy to achieve state synchronization and minimize performance indices.