Distributed Policy Gradient for Linear Quadratic Networked Control with Limited Communication Range
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866909128666906624 |
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| author | Yan, Yuzi Shen, Yuan |
| author_facet | Yan, Yuzi Shen, Yuan |
| contents | This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication constraints, implying that each agent can only exchange information with a limited number of neighboring agents. On the underlying graph of the network, each agent implements its control input depending on its nearby neighbors' states in the linear quadratic control setting. We show that it is possible to approximate the exact gradient only using local information. Compared with the centralized optimal controller, the performance gap decreases to zero exponentially as the communication and control ranges increase. We also demonstrate how increasing the communication range enhances system stability in the gradient descent process, thereby elucidating a critical trade-off. The simulation results verify our theoretical findings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_03055 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Distributed Policy Gradient for Linear Quadratic Networked Control with Limited Communication Range Yan, Yuzi Shen, Yuan Multiagent Systems Machine Learning Robotics Systems and Control This paper proposes a scalable distributed policy gradient method and proves its convergence to near-optimal solution in multi-agent linear quadratic networked systems. The agents engage within a specified network under local communication constraints, implying that each agent can only exchange information with a limited number of neighboring agents. On the underlying graph of the network, each agent implements its control input depending on its nearby neighbors' states in the linear quadratic control setting. We show that it is possible to approximate the exact gradient only using local information. Compared with the centralized optimal controller, the performance gap decreases to zero exponentially as the communication and control ranges increase. We also demonstrate how increasing the communication range enhances system stability in the gradient descent process, thereby elucidating a critical trade-off. The simulation results verify our theoretical findings. |
| title | Distributed Policy Gradient for Linear Quadratic Networked Control with Limited Communication Range |
| topic | Multiagent Systems Machine Learning Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.03055 |