A novel distributed optimal adaptive control algorithm for nonlinear multi-agent differential graphical games

In this paper, an online optimal distributed learning algorithm is proposed to solve leader-synchronization problem of nonlinear multi-agent differential graphical games. Each player approximates its optimal control policy using a single-network approximate dynamic programming ( ADP ) where only one critic neural network ( NN ) is employed instead of typical actorcritic structure composed of two NNs. The proposed distributed weight tuning laws for critic NNs guarantee stability in the sense of uniform ultimate boundedness ( UUB ) and convergence of control policies to the Nash equilibrium. In this paper, by introducing novel distributed local operators in weight tuning laws, there is no more requirement for initial stabilizing control policies. Furthermore, the overall closed-loop system stability is guaranteed by Lyapunov stability analysis. Finally, Simulation results show the effectiveness of the proposed algorithm.