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author:

Wang, Saiwei (Wang, Saiwei.) [1] | Jin, Xin (Jin, Xin.) [2] | Mao, Shuai (Mao, Shuai.) [3] | Vasilakos, Athanasios V. (Vasilakos, Athanasios V..) [4] | Tang, Yang (Tang, Yang.) [5]

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EI

Abstract:

This paper develops a model-free approach to solve the event-triggered optimal consensus of multiple Euler-Lagrange systems (MELSs) via reinforcement learning (RL). Firstly, an augmented system is constructed by defining a pre-compensator to circumvent the dependence on system dynamics. Secondly, the Hamilton-Jacobi-Bellman (HJB) equations are applied to the deduction of the model-free event-triggered optimal controller. Thirdly, we present a policy iteration (PI) algorithm derived from RL, which converges to the optimal policy. Then, the value function of each agent is represented through a neural network to realize the PI algorithm. Moreover, the gradient descent method is used to update the neural network only at a series of discrete event-triggered instants. The specific form of the event-triggered condition is then proposed, and it is guaranteed that the closed-loop augmented system under the event-triggered mechanism is uniformly ultimately bounded (UUB). Meanwhile, the Zeno behavior is also eliminated. Finally, the validity of this approach is verified by a simulation example. © 2013 IEEE.

Keyword:

Flexible manipulators Gradient methods Lagrange multipliers Learning systems Neural networks Optimization Reinforcement learning

Community:

  • [ 1 ] [Wang, Saiwei]Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai, China
  • [ 2 ] [Jin, Xin]Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai, China
  • [ 3 ] [Mao, Shuai]Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai, China
  • [ 4 ] [Vasilakos, Athanasios V.]School of Electrical and Data Engineering, University of Technology Sydney, Ultimo; NSW, Australia
  • [ 5 ] [Vasilakos, Athanasios V.]Department of Computer Science and Technology, Fuzhou University, Fuzhou; 350116, China
  • [ 6 ] [Vasilakos, Athanasios V.]Department of Computer Science, Electrical and Space Engineering, Lulea University of Technology, Lulea; 97187, Sweden
  • [ 7 ] [Tang, Yang]Key Laboratory of Advanced Control and Optimization for Chemical Processes, Ministry of Education, East China University of Science and Technology, Shanghai, China

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Source :

IEEE Transactions on Network Science and Engineering

Year: 2021

Issue: 1

Volume: 8

Page: 246-258

5 . 0 3 3

JCR@2021

6 . 7 0 0

JCR@2023

ESI HC Threshold:105

JCR Journal Grade:1

CAS Journal Grade:1

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 30

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 0

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