Optimal synchronization for multi-agent systems: A performance-dependent switching topology

This paper proposes an optimal output synchronization control method for heterogeneous multi-agent systems (HMASs) under a performance-dependent switching topology and DoS attacks. First, local and global switched performance index functions (SPIF) and SPIF-dependent topology switching law are proposed, respectively, thus, the control performance and topology quality can be quantitatively expressed. Second, an adaptive dynamic programming (ADP) algorithm with mode switching is proposed, aimed at dealing with the difficult Hamilton–Jacobi–Bellman equation, as well as the analytical complexity caused by the switching dynamics. The convergence of the switched ADP algorithm is proven to ensure its correct implementation. Then, for different topologies, multi-mode Actor-Critic neural networks (NNs) are built for each agent to calculate optimized control policies and SPIF, respectively. Furthermore, an NN-based state compensation mechanism is designed to expand the applicability of the designed switched ADP algorithm when the leader’s output transmission is unreliable. Finally, the results of numerical examples confirm that the proposed method is feasible.