Adversarial Multi-agent Leader-Follower Graphical Game with Local and Global Objectives
Adversarial Multi-agent Leader-Follower Graphical Game with Local and Global Objectives
复制标题
DOI：
10.23919/acc53348.2022.9867886
复制
发表时间：
2022-06
期刊：
影响因子：
--
通讯作者：
Yusuf Kartal;A. T. Koru;F. Lewis;A. Dogan
中科院分区：
文献类型：
--
作者：
Yusuf Kartal;A. T. Koru;F. Lewis;A. Dogan
多个领导者和追随者的图形游戏构成了航空航天和机器人应用的挑战性问题。其中一个挑战来自于拥有不同数量的追随者和领导者。我们克服了这一点，采用输出包容误差系统，结果在制定的所有追随者的输出被证明是收敛的凸船体跨越的领导者的输出。另一个挑战是设计分布式纳什均衡控制策略，这样的游戏，这不能实现与传统的二次成本函数制定。因此，一个修改后的成本功能，提供纳什和分布式控制策略的意义上，每个追随者使用的状态信息，它自己和邻居，提出。此外，通过最近发展的一类有向图研究了输出包容误差系统在无界扰动下的增益界，得到了一个半简单的pinned图Laplacian.
Multiple leader and follower graphical games constitute challenging problems for aerospace and robotics applications. One of the challenges arises from having a different number of followers and leaders. We overcome this by employing an output containment error system that results in a formulation where outputs of all followers are proved to converge the convex hull spanned by the outputs of leaders. Another challenge is to design distributed Nash equilibrium control strategies for such games, which cannot be achieved with traditional quadratic cost functional formulation. Therefore, a modified cost functional that provides both Nash and distributed control strategies in the sense that each follower uses the state information of its own and neighbors, is presented. Furthermore, an ${{\mathcal{L}}_2}$ gain bound of the output containment error system that experiences unbounded disturbances is investigated by a recently developed class of digraphs that results in a semi-simple pinned graph Laplacian.