[{"type":"paper-conference","title":"Adaptive Dynamic Programming for Cooperative Control with Incomplete Information","issued":{"date-parts":[["2018"]]},"container-title":"IEEE International Conference on Systems, Man and Cybernetics (IEEE SMC 2018), Miyazaki, J, October 7-10, 2018","author":[{"family":"K\u00f6pf","given":"Florian"},{"family":"Ebbert","given":"Sebastian"},{"family":"Flad","given":"Michael"},{"family":"Hohmann","given":"S\u00f6ren"}],"publisher":"IEEE","publisher-place":"Piscataway, NJ","abstract":"There is a trend towards interconnected and complex\r\ndynamical systems that are controlled by more than one\r\ncontroller. Due to the coupling of the controllers by means of\r\nthe system, these interacting controllers need to consider not\r\nonly the system dynamics but also the influence of each other.\r\nHowever, in realistic scenarios, they usually do not exchange all\r\nthe information concerning their parameters and control laws\r\nand an exact model of the system dynamics is often hard to\r\nobtain. This is why we consider the challenging setting where\r\nthe controllers have no access neither to the parameters of each\r\nother nor to the system dynamics. The controller design is quite\r\ndifficult in this scenario, as the final system configuration is\r\nnot known during the design process. In this complex scenario,\r\nwe propose algorithms where each controller uses Adaptive\r\nDynamic Programming to adapt its control law. Here, each\r\ncontroller strives for reaching its individual control objectives,\r\na setting which can be formulated as a coupled optimization\r\nproblem, respectively a dynamic game. As an example, we\r\nconsider a vehicle model with two lateral controllers. With our\r\nproposed algorithms, the controllers converge successfully to a\r\nsolution of the coupled optimization problem without knowing\r\nthe parameters of each other and the system dynamics.","keyword":"Cooperative Control, Adaptive Dynamic Programming,\r\nAdaptive Optimal Control, Game Theory, Reinforcement\r\nLearning","kit-publication-id":"1000085390"}]