Data-Driven Distributed Optimal Consensus Control for Unknown Multiagent Systems With Input-Delay

This paper is concerned with data-driven distributed optimal consensus control for unknown multiagent systems (MASs) with input delays. The input-delayed MAS model is first converted into a delay-free form using a model reduction method. By establishing an equivalent relationship on the predesigned performance indices of the two MASs, optimal consensus control of input-delayed MAS can be fully transformed to that of delayfree MAS. Based on the coupled Hamilton-Jacobi equations and Bellman's optimality principle, optimal consensus control policies are derived for the transformed delay-free MAS. Then a policy iteration algorithm based on distributed asynchronous update mechanism is proposed to learn the coupled Hamilton-Jacobi- Bellman equations online. To perform the proposed data-driven adaptive dynamic programming algorithm, we adopt the measured data-based critic-actor neural networks to approximate the value functions and the control policies, respectively. Finally, a simulation example is given to illustrate the effectiveness of the proposed method.