Neural Network-based Constrained Optimal Coordination for Heterogeneous Uncertain Nonlinear Multi-agent Systems

In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each agent has a private objective function and a constraint about its output. A neural network-based distributed controller is developed for each agent such that all agent outputs can reach the constrained minimal point of the aggregate objective function with bounded residual errors. Two examples are finally given to demonstrate the effectiveness of the algorithm.