Work

Finite‐Time Cooperative Tracking of Multi‐Agent Systems With Input Saturation via Dual‐Critic Architecture Optimized Control

Year: 2026

Type: article

Abstract: ABSTRACT This paper investigates the problem of adaptive finite‐time optimal control for stochastic nonlinear multi‐agent systems (MASs) subject to input saturation. To address the challenges posed by unknown dynamics and the Hamilton‐Jacobi‐Bellman (HJB) equation, a novel double critic‐actor architecture is developed, enabling efficient approximation of both the value function and system uncertainties. By integrating the command filter technique and function approximation within a backstepping framework, a finite‐time optimal tracking control scheme is constructed. An auxiliary system is further introduced to explicitly handle input saturation. Rigorous analysis based on the finite‐time stochastic Lyapunov theorem ensures that the tracking error remains within a prescribed bound in finite time, and the closed‐loop system achieves semi‐globally finite‐time stability in probability (SGFSP). The effectiveness of the proposed approach is validated through its successful application to a single‐link manipulator system.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70684

Authors: Weidi Cheng, Shuping He, Hongjing Liang

Institutions: Anhui University, University of Electronic Science and Technology of China

Language: English

Topic: Adaptive Dynamic Programming Control

Subfield: Computational Theory and Mathematics

Field: Computer Science

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Division of Graduate Education

Award: G8086897082