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Abstract

In many specific scenarios, accurateand practical cooperative learning is a commonly encountered challenge in multi-agent systems. Thus, the current investigation focuses on cooperative learning algorithms for multi-agent systems and underpins an alternate data-based neural network reinforcement learning framework. To achieve the data-based learning optimization, the proposed cooperative learning framework, which comprises two layers, introduces a virtual learning objective. The followers learn the behaviors of the virtual objects in the first layer based on the adaptive neural networks (NNs). Specifically, the actor and critic NNs are applied to acquire cooperative behaviors and assess this layer's long-term utility function. Then another layer realizes the tracking performance between the virtual objects and the leader by introducing the local data-based performance index. Then, we formulate a resulting deterministic optimization problem and resolve it effectively with the policy iteration algorithm. This intuitive cooperative learning algorithm also preserves good robustness properties and eliminates the dependence on the prior knowledge of the multi-agent system model in the solution process. Finally, a multi-robot formation system demonstrates this promising development's practical appeal and highly effective outcome.