Dynamic Event-Driven Finite-Horizon Optimal Consensus Control for Constrained Multiagent Systems

Abstract

This article investigates the event-driven finite-horizon optimal consensus control problem for multiagent systems with symmetric or asymmetric input constraints. Initially, in order to overcome the difficulty that the Hamilton-Jacobi-Bellman equation is time-varying in finite-horizon optimal control, a single critic neural network (NN) with time-varying activation function is applied to obtain the approximate optimal control. Meanwhile, for minimizing the terminal error to satisfy the terminal constraint of the value function, an augmented error vector containing the Bellman residual and the terminal error is constructed to update the weight of the NN. Furthermore, an improved learning law is proposed, which relaxes the tricky persistence excitation condition and eliminates the requirement of initial stability control. Moreover, a specific algorithm is designed to update the historical dataset, which can effectively accelerate the convergence rate of network weight. In addition, to improve the utilization rate of the communication resource, an effective dynamic event-triggering mechanism (DETM) composed of dynamic threshold parameters (DTPs) and auxiliary dynamic variables (ADVs) is designed, which is more flexible compared with the ADV-based DETM or DTP-based DETM. Finally, to support the effectiveness of the proposed method and the superiority of the designed DETM, a simulation example is provided.