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Limited benefit of joint estimation in multi‐agent iterative learning
Author(s) -
Schoellig Angela P.,
AlonsoMora Javier,
D'Andrea Raffaello
Publication year - 2012
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.398
Subject(s) - iterative learning control , noise (video) , process (computing) , estimation , computer science , multi agent system , joint (building) , disturbance (geology) , component (thermodynamics) , similarity (geometry) , artificial intelligence , iterative and incremental development , task (project management) , control (management) , machine learning , engineering , architectural engineering , paleontology , physics , thermodynamics , systems engineering , image (mathematics) , biology , operating system , software engineering
Abstract This paper studies iterative learning control (ILC) in a multi‐agent framework, wherein a group of agents simultaneously and repeatedly perform the same task. Assuming similarity between the agents, we investigate whether exchanging information between the agents improves an individual's learning performance. That is, does an individual agent benefit from the experience of the other agents? We consider the multi‐agent iterative learning problem as a two‐step process of: first, estimating the repetitive disturbance of each agent; and second, correcting for it. We present a comparison of an agent's disturbance estimate in the case of (I) independent estimation, where each agent has access only to its own measurement, and (II) joint estimation, where information of all agents is globally accessible. When the agents are identical and noise comes from measurement only, joint estimation yields a noticeable improvement in performance. However, when process noise is encountered or when the agents have an individual disturbance component, the benefit of joint estimation is negligible. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society