Decentralized event-triggered online learning for safe consensus control of multi-agent systems with Gaussian process regression
X. C. Dai, Zewen Yang, Mengtian Xu, Sihua Zhang, Fangzhou Liu, Georges Hattab, Sandra Hirche
Abstract
Consensus control in multi-agent systems has received significant attention and practical implementation across various domains. However, managing consensus control under unknown dynamics remains a significant challenge for control design due to system uncertainties and environmental disturbances. This paper presents a novel learning-based distributed control law augmented by auxiliary dynamics. Gaussian processes are harnessed to compensate for the unknown components of the multi-agent system. For continuous enhancement in the predictive performance of the Gaussian process model, a data-efficient online learning strategy with a decentralized event-triggered mechanism is proposed. Furthermore, the control performance of the proposed approach is ensured via the Lyapunov theory, based on a probabilistic guarantee for prediction error bounds. To demonstrate the efficacy of the proposed learning-based controller, a comparative analysis is conducted, contrasting it with both conventional distributed control laws and offline learning methodologies.