论文标题
多代理最佳控制系统的合作调整
Cooperative Tuning of Multi-Agent Optimal Control Systems
论文作者
论文摘要
本文研究了多代理最佳控制系统的合作调整问题，其中一种代理网络（即多个耦合的最佳控制系统）以协调的方式调整其动力学，目标函数或控制器的参数，以最大程度地减少其损失功能的总和。与控制器中调谐参数的经典技术不同，我们允许在系统动力学和每个代理的目标函数中出现可调参数。开发了一个框架，以允许所有代理商就可调参数达成共识，从而最大程度地减少团队损失。所提出算法的关键思想取决于基于共识的多代理系统的共识分布式优化和梯度发生器捕获最佳性能，该梯度发电机在反馈循环中调整了每个代理的参数中的参数。提供了同步多代理集合问题的理论结果和模拟，以验证提出的多代理最佳控制的合作调整方法。
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or controllers in a coordinated way to minimize the sum of their loss functions. Different from classical techniques for tuning parameters in a controller, we allow tunable parameters appearing in both the system dynamics and the objective functions of each agent. A framework is developed to allow all agents to reach a consensus on the tunable parameter, which minimizes team loss. The key idea of the proposed algorithm rests on the integration of consensus-based distributed optimization for a multi-agent system and a gradient generator capturing the optimal performance as a function of the parameter in the feedback loop tuning the parameter for each agent. Both theoretical results and simulations for a synchronous multi-agent rendezvous problem are provided to validate the proposed method for cooperative tuning of multi-agent optimal control.
