Grap hical Minimax Game and Off-Policy Reinforcement Learning for Heterogeneous MASs with Spanning Tree Condition

In this paper,the optimal consensus control problem is investigated for heterogeneous linear multi-agent systems(MASs)with spanning tree condition based on game theory and rein-forcement learning.First,the graphical minimax game algebraic Riccati equation(ARE)is derived by converting the consensus problem into a zero-sum game problem between each agent and its neighbors.The asymptotic stability and minimax validation of the closed-loop systems are proved theoretically.Then,a data-driven off-policy reinforcement learning algorithm is proposed to online learn the optimal control policy without the information of the system dynamics.A certain rank condition is established to guarantee the convergence of the proposed algorithm to the unique solution of the ARE.Finally,the e®ectiveness of the proposed method is demonstrated through a numerical simulation.