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Volume 1 Issue 3
Jul.  2014

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2014  >  1(3): 239-247
Rushikesh Kamalapurkar, Justin R. Klotz and Warren E. Dixon, "Concurrent Learning-based Approximate Feedback-Nash Equilibrium Solution of N-player Nonzero-sum Differential Games," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 3, pp. 239-247, 2014.
Citation: Rushikesh Kamalapurkar, Justin R. Klotz and Warren E. Dixon, "Concurrent Learning-based Approximate Feedback-Nash Equilibrium Solution of N-player Nonzero-sum Differential Games," IEEE/CAA J. of Autom. Sinica, vol. 1, no. 3, pp. 239-247, 2014.
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Concurrent Learning-based Approximate Feedback-Nash Equilibrium Solution of N-player Nonzero-sum Differential Games

  • 1. Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville 32608, USA;

  • 2. Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville 32608, USA;

  • 3. Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville 32608, USA

Funds:

This work was supported by National Science Foundation Award (1161260, 1217908), Office of Naval Research (N00014-13-1-0151), and a contract with the Air Force Research Laboratory Mathematical Modeling and Optimization Institute. Recommended by Associate Editor Zhongsheng Hou

    Abstract
  • This paper presents a concurrent learning-based actor-critic-identifier architecture to obtain an approximate feedback-Nash equilibrium solution to an infinite horizon N-player nonzero-sum differential game. The solution is obtained online for a nonlinear control-affine system with uncertain linearly parameterized drift dynamics. It is shown that under a condition milder than persistence of excitation (PE), uniformly ultimately bounded convergence of the developed control policies to the feedback-Nash equilibrium policies can be established. Simulation results are presented to demonstrate the performance of the developed technique without an added excitation signal.

     

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