Hierarchical game theoretical distributed adaptive control for large scale multi‐group multi‐agent system
Hierarchical game theoretical distributed adaptive control for large scale multi‐group multi‐agent system
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DOI：
10.1049/cth2.12506
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发表时间：
2023-08
期刊：
影响因子：
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通讯作者：
Shawon Dey;Hao Xu
中科院分区：
文献类型：
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作者：
Shawon Dey;Hao Xu
本文介绍了一种用于大规模多智能体系统的分布式自适应编队控制（LS-MAS），它解决了计算复杂性和通信流量的挑战，同时直接将传统的分布式控制从小规模扩展到大规模。具体而言，通过有效地整合平均场博弈（MFG）、Stackelberg博弈和合作博弈，提出了一种新的分层博弈算法，为求解LS-MAS分布式最优编队问题提供了可行的理论基础.特别是，LS-MAS在地理上被分成多个组，每个组有一个组长和大量的追随者。然后，多组领导者之间的合作博弈，制定分布式组间编队控制的领导者。同时，对大量的群内跟随者采用MFG实现群内的集体形成，而Stackelberg博弈将群内跟随者与其对应的群内领导者联系起来，实现整体的LS-MAS多群形成行为。此外，基于行动者-批评者的混合强化学习算法被构造用于学习基于分层博弈的最优分布式编队控制的解。最后，为了证明所提出的方案的有效性，数值模拟和李雅普诺夫分析。
This paper introduces a distributed adaptive formation control for large‐scale multi‐agent systems (LS‐MAS) that addresses the heavy computational complexity and communication traffic challenges while directly extending conventional distributed control from small scale to large scale. Specifically, a novel hierarchical game theoretic algorithm is developed to provide a feasible theory foundation for solving LS‐MAS distributed optimal formation problem by effectively integrating the mean‐field game (MFG), the Stackelberg game, and the cooperative game. In particular, LS‐MAS is divided into multiple groups geographically with each having one group leader and a significant amount of followers. Then, a cooperative game is used among multi‐group leaders to formulate distributed inter‐group formation control for leaders. Meanwhile, an MFG is adopted for a large number of intra‐group followers to achieve the collective intra‐group formation while a Stackelberg game is connecting the followers with their corresponding leader within the same group to achieve the overall LS‐MAS multi‐group formation behavior. Moreover, a hybrid actor–critic‐based reinforcement learning algorithm is constructed to learn the solution of the hierarchical game‐based optimal distributed formation control. Finally, to show the effectiveness of the presented schemes, numerical simulations and Lyapunov analysis is performed.