Adaptive event-triggered distributed optimal guidance design via adaptive dynamic programming
Teng Long, Yan Cao, Jingliang Sun, Guangtong Xu
Abstract
In this paper, the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system. To save the limited communication resources, an adaptive event-triggered optimal guidance law is proposed by designing a synchronization-error-driven triggering condition, which brings together the consensus control with Adaptive Dynamic Programming (ADP) technique. Then, the developed event-triggered distributed control law can be employed by finding an approximate solution of event-triggered coupled Hamilton-Jacobi-Bellman (HJB) equation. To address this issue, the critic network architecture is constructed, in which an adaptive weight updating law is designed for estimating the cooperative optimal cost function online. Therefore, the event-triggered closed-loop system is decomposed into two subsystems: the system with flow dynamics and the system with jump dynamics. By using Lyapunov method, the stability of this closed-loop system is guaranteed and all signals are ensured to be Uniformly Ultimately Bounded (UUB). Furthermore, the Zeno behavior is avoided. Simulation results are finally provided to demonstrate the effectiveness of the proposed method.