Decentralized Event-Triggered Online Learning for Safe Consensus of Multi-Agent Systems with Gaussian Process Regression
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 an auxiliary dynamics. Gaussian processes are harnessed to compensate for the unknown components of the multi-agent system. For continuous enhancement in predictive performance of 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.
Cite
@article{arxiv.2402.03174,
title = {Decentralized Event-Triggered Online Learning for Safe Consensus of Multi-Agent Systems with Gaussian Process Regression},
author = {Xiaobing Dai and Zewen Yang and Mengtian Xu and Fangzhou Liu and Georges Hattab and Sandra Hirche},
journal= {arXiv preprint arXiv:2402.03174},
year = {2024}
}