Time-Varying Optimal Sliding-Mode Lag Formation Control for High-Order Nonlinear Multiagent Systems Based on Reinforcement Learning

This paper considers a type of high-order nonlinear multiagent systems (MASs), and the time-varying optimal lag formation control problem for such MAS is addressed. To eliminate the influences of the unknown system dynamics and external disturbance on single agent, a neural network (NN) identifier and disturbance observer based compensation controller is developed. Then, an optimal control law to ensure the practical time-varying lag formation for the MAS is introduced by exploiting the sliding-mode control (SMC) method and reinforcement learning (RL) technique. Finally, a numerical example is given to validate the effectiveness of the proposed optimal control law.