This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent s...This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.展开更多
The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variabl...The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.展开更多
This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion.Its main contribution is that a control scheme is designed to achieve the ...This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion.Its main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic noise.In traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent agents.By introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local interaction.Through the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is analyzed.Two simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.展开更多
In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on ...In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.展开更多
This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained wh...This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.展开更多
In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed t...In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.展开更多
In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulato...In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are directed.First,a disturbance observer is presented to suppress the influence of unknown external disturbance,and the equivalent compensation is introduced into the control protocol in multi-manipulator systems.Then,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching topologies.Finally,two simulation examples verify the validity of the theoretical result.展开更多
This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative noises.First,a control law based on the absolute vel...This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative noises.First,a control law based on the absolute velocity and relative position information is designed.Second,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov function.Then,for the linear second-order multi-agent systems,some explicit consensus conditions are provided.Finally,two sets of numerical simulations are performed.展开更多
This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynami...This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.展开更多
This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of ext...This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.展开更多
The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated.A new super-twisting sliding mode observer is constructed to estimate the velocity an...The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated.A new super-twisting sliding mode observer is constructed to estimate the velocity and undetectable fault information simultaneously.The time-varying gain is introduced to solve the initial error problem and peak value problem,which makes the observation more accurate and faster.Then,based on the estimated results,an improved sliding mode fault-tolerant consensus control algorithm is designed to compensate the actuator faults.The protocol can guarantee the finite-time consensus control of multi-agent systems and suppress chattering.Finally,the effectiveness and the superiority of the observer and control algorithm are proved by some simulation examples of the multi-aircraft system.展开更多
There has been significant recent research on secure control problems that arise from the open and complex realworld industrial environments.This paper focuses on addressing the issue of secure consensus control in mu...There has been significant recent research on secure control problems that arise from the open and complex realworld industrial environments.This paper focuses on addressing the issue of secure consensus control in multi-agent systems(MASs)under malicious attacks,utilizing the practical Byzantine fault tolerance(PBFT)and Raft consensus algorithm in blockchain.Unlike existing secure consensus control algorithms that have strict requirements for topology and high communication costs,our approach introduces a node grouping methodology based on system topology.Additionally,we utilize the PBFT consensus algorithm for intergroup leader identity verification,effectively reducing the communication complexity of PBFT in large-scale networks.Furthermore,we enhance the Raft algorithm through cryptographic validation during followers’log replication,which enhances the security of the system.Our proposed consensus process not only identifies the identities of malicious agents but also ensures consensus among normal agents.Through extensive simulations,we demonstrate robust convergence,particularly in scenarios with the relaxed topological requirements.Comparative experiments also validate the algorithm’s lower consensus latency and improved efficiency compared to direct PBFT utilization for identity verification and classical secure consensus control method mean subsequence reduced(MSR)algorithm.展开更多
In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a lar...In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.展开更多
This paper proposes a novel edge-event-triggered sliding mode control strategy to achieve consensus of heterogeneous multi-agent systems(MASs)consisting of the firstorder and second-order agents under the influence of...This paper proposes a novel edge-event-triggered sliding mode control strategy to achieve consensus of heterogeneous multi-agent systems(MASs)consisting of the firstorder and second-order agents under the influence of unknown disturbances.The edge-event-triggered mechanism(EETM)is uniquely defined and differs from traditional node-based approaches by focusing on individual edges rather than nodes,resulting in more efficient communication.The edge-eventtriggered mechanism utilizes the relative positions between an agent and its neighbors,independent of global coordinates.The designed controller has two components.First,the sliding mode control strategy enables heterogeneous MASs to reach and maintain their states on the sliding mode surface despite unknown disturbances.Subsequently,the equivalent control strategy,combined with the edge-event-triggered mechanism,guarantees the consensus of heterogeneous MASs while avoiding Zeno behavior.Triggering functions are developed for agents that form the same edge,allowing asynchronous mechanisms triggered by events of the edge.By employing the Lyapunov stability theory,sufficient conditions for the proposed control strategy are given.Simulation results demonstrate the effectiveness of the theoretical results,showing significant communication reduction compared to traditional event-triggered approaches.展开更多
This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a co...This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN control.This method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity estimation.Subsequently,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control algorithm.The notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control parameters.Moreover,the DMETM is established to reduce the actuation frequency of the controller.Unlike the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering intervals.Utilizing a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed time.Finally,simulation results are presented to validate the effectiveness of the proposed algorithm.展开更多
This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed graphs.Based on disturbance observers,distributed consensus disturbance rejection protocols are constr...This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed graphs.Based on disturbance observers,distributed consensus disturbance rejection protocols are constructed in leaderless and leader-follower consensus setups.Different from the previous related papers,the consensus protocols in this paper are developed in a fully distributed fashion,relying on only the state information of each agent and its neighbors.Sufficient conditions are provided to guarantee that the asymptotic stability of high-order multi-agent systems can be reached with matched disturbances.展开更多
This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedba...This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback controller.The weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time MASs.Explicit synthesis procedures are also developed.Our work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.展开更多
Recent advances in a power electronic device called an electric spring(ES)provide feasible solutions to meeting critical customers’requirements for voltage quality.A new version of the ES was introduced based on a ba...Recent advances in a power electronic device called an electric spring(ES)provide feasible solutions to meeting critical customers’requirements for voltage quality.A new version of the ES was introduced based on a back-to-back converter(ESBC)configuration which extends the operating range and improves the voltage suppression performance to facilitate ultra-high renewable penetration.This paper proposes an efficient control method to facilitate the voltage regulation function of an ESBC with non-critical loads.Particularly,the proposed method is suitable for various load characteristics.We also develop a consensus algorithm to coordinate multiple ESs for maintaining critical bus voltage in distribution systems with ultra-high renewable penetration.The proposed operation of the ESBC is verified by simulation of a modified IEEE 15-bus distribution network.The results show that the ESBC can effectively regulate system voltage and is superior to the original version of the ES.展开更多
This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order le...This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.展开更多
A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles（multi-AUVs） with double independent Markovian switching communicat...A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles（multi-AUVs） with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated.This is accomplished by first dividing the communication topology into two different switching parts,i.e.,velocity and position,to reduce the data capacity per data package sent between the multi-AUVs in the ocean.Then,the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model.Consequently,coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies.Considering these factors,sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem.Finally,simulation results that validate the theoretical results are presented.展开更多
基金supported in part by the National Key Research and Development Program of China(2021YFE0206100)the National Natural Science Foundation of China(62425310,62073321)+2 种基金the National Defense Basic Scientific Research Program(JCKY2019203C029,JCKY2020130C025)the Science and Technology Development FundMacao SAR(FDCT-22-009-MISE,0060/2021/A2,0015/2020/AMJ)
文摘This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.
基金supported in part by the Australian Research Council Discovery Early Career Researcher Award(DE200101128)。
文摘The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.
基金supported in part by the National Natural Science Foundation of China(61722312,61533017,62073321)the National Key Research and Development Program of China(2018YFB1702300)。
文摘This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion.Its main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic noise.In traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent agents.By introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local interaction.Through the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is analyzed.Two simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.
基金This work was supported in part by the National Natural Science Foundation of China （No. 61633007, 61703112）, in part by the China Postdoctoral Science Foundation （No. 2016M600643） and the special fund （No. 2017T100618）, and in part by the Office of Naval Research （No. N00014-17-1-2239, NO0014-18-1-2221 ）.
文摘In this paper, we design consensus algorithms for multiple unmanned aerial vehicles （UAV）. We mainly focus on the control design in the face of measurement noise and propose a position consensus controller based on the sliding mode control by using the distributed UAV information. Within the framework of Lyapunov theory, it is shown that all signals in the closed-loop multi- UAV systems are stabilized by the proposed algorithm, while consensus errors are uniformly ultimately bounded. Moreover, for each local UAV, we propose a mechanism to define the trustworthiness, based on which the edge weights are tuned to eliminate negative influence from stubborn agents or agents exposed to extremely noisy measurement. Finally, we develop software for a nano UAV platform, based on which we implement our algorithms to address measurement noises in UAV flight tests. The experimental results validate the effectiveness of the proposed algorithms.
基金supported in part by the National Natural Science Foundation of China (62073108)the Zhejiang Provincial Natural Science Foundation(LZ23F030004)+1 种基金the Key Research and Development Project of Zhejiang Province (2019C04018)the Fundamental Research Funds for the Provincial Universities of Zhejiang (GK229909299001-004)。
文摘This article deals with the consensus problem of multi-agent systems by developing a fixed-time consensus control approach with a dynamic event-triggered rule. First, a new fixedtime stability condition is obtained where the less conservative settling time is given such that the theoretical settling time can well reflect the real consensus time. Second, a dynamic event-triggered rule is designed to decrease the use of chip and network resources where Zeno behaviors can be avoided after consensus is achieved, especially for finite/fixed-time consensus control approaches. Third, in terms of the developed dynamic event-triggered rule, a fixed-time consensus control approach by introducing a new item is proposed to coordinate the multi-agent system to reach consensus. The corresponding stability of the multi-agent system with the proposed control approach and dynamic eventtriggered rule is analyzed based on Lyapunov theory and the fixed-time stability theorem. At last, the effectiveness of the dynamic event-triggered fixed-time consensus control approach is verified by simulations and experiments for the problem of magnetic map construction based on multiple mobile robots.
基金the National Natural Science Foundation of China(Nos.61973189,62073190)the Research Fund for the Taishan Scholar Project of Shandong Province of China(No.ts20190905)the Natural Science Foundation of Shandong Province of China(No.ZR2020ZD25).
文摘In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.
基金supported in part by the National Natural Science Foundation of China(No.61803276)the Beijing Municipal Education Commission Science Plan(General Research Project,No.KM201910028004)+1 种基金the Beijing Natural Science Foundation(No.4202011)Key Research Grant of Academy for Multidisciplinary Studies of CNU(No.JCKXYJY2019018).
文摘In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are directed.First,a disturbance observer is presented to suppress the influence of unknown external disturbance,and the equivalent compensation is introduced into the control protocol in multi-manipulator systems.Then,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching topologies.Finally,two simulation examples verify the validity of the theoretical result.
基金supported by the National Natural Science Foundation of China(No.62073305)the Hubei Provincial Natural Science Foundation(No.2022CFA041)the 2022 Innovation and Entrepreneurship Plan for College Students of China University of Geosciences,Wuhan,China(No.S202210491203).
文摘This article studies the almost-sure and the mean-square consensus control problems of second-order stochastic discrete-time multi-agent systems with multiplicative noises.First,a control law based on the absolute velocity and relative position information is designed.Second,considering the existence of multiplicative noises and nonlinear terms with Lipschitz constants,the consensus control problem is solved through the use of a degenerated Lyapunov function.Then,for the linear second-order multi-agent systems,some explicit consensus conditions are provided.Finally,two sets of numerical simulations are performed.
基金supported in part by the National Natural Science Foundation of China(51939001,61976033,62273072)the Natural Science Foundation of Sichuan Province (2022NSFSC0903)。
文摘This paper investigates the consensus control of multi-agent systems(MASs) with constrained input using the dynamic event-triggered mechanism(ETM).Consider the MASs with small-scale networks where a centralized dynamic ETM with global information of the MASs is first designed.Then,a distributed dynamic ETM which only uses local information is developed for the MASs with large-scale networks.It is shown that the semi-global consensus of the MASs can be achieved by the designed bounded control protocol where the Zeno phenomenon is eliminated by a designable minimum inter-event time.In addition,it is easier to find a trade-off between the convergence rate and the minimum inter-event time by an adjustable parameter.Furthermore,the results are extended to regional consensus of the MASs with the bounded control protocol.Numerical simulations show the effectiveness of the proposed approach.
基金supported by the National High Technology Research and Development Program of China (Grant Nos. 2007AA041104,2007AA041105 and 2007AA04Z163)
文摘This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.
基金supported by Key Laboratories for National Defense Science and Technology(6142605200402)the Aeronautical Science Foundation of China(20200007018001)+2 种基金the National Natural Science Foundation of China(61922042)the Aero Engine Corporation of China Industry-University-Research Cooperation Project(HFZL2020CXY011)the Research Fund of State Key Laboratory of Mechanics and Control of Mechanical Structures(Nanjing University of Aeron autics and astronautics)(MCMS-I-0121G03)。
文摘The fault-tolerant consensus problem for leader-following nonlinear multi-agent systems with actuator faults is mainly investigated.A new super-twisting sliding mode observer is constructed to estimate the velocity and undetectable fault information simultaneously.The time-varying gain is introduced to solve the initial error problem and peak value problem,which makes the observation more accurate and faster.Then,based on the estimated results,an improved sliding mode fault-tolerant consensus control algorithm is designed to compensate the actuator faults.The protocol can guarantee the finite-time consensus control of multi-agent systems and suppress chattering.Finally,the effectiveness and the superiority of the observer and control algorithm are proved by some simulation examples of the multi-aircraft system.
基金supported by the Fundamental Research Funds for the Central Universities(NS2024021)the Science and Technology Development Fund of Macao SAR(0145/2023/RIA3,0093/2023/RIA2,0050/2020/A1)the National Natural Science Foundation of China(62103411).
文摘There has been significant recent research on secure control problems that arise from the open and complex realworld industrial environments.This paper focuses on addressing the issue of secure consensus control in multi-agent systems(MASs)under malicious attacks,utilizing the practical Byzantine fault tolerance(PBFT)and Raft consensus algorithm in blockchain.Unlike existing secure consensus control algorithms that have strict requirements for topology and high communication costs,our approach introduces a node grouping methodology based on system topology.Additionally,we utilize the PBFT consensus algorithm for intergroup leader identity verification,effectively reducing the communication complexity of PBFT in large-scale networks.Furthermore,we enhance the Raft algorithm through cryptographic validation during followers’log replication,which enhances the security of the system.Our proposed consensus process not only identifies the identities of malicious agents but also ensures consensus among normal agents.Through extensive simulations,we demonstrate robust convergence,particularly in scenarios with the relaxed topological requirements.Comparative experiments also validate the algorithm’s lower consensus latency and improved efficiency compared to direct PBFT utilization for identity verification and classical secure consensus control method mean subsequence reduced(MSR)algorithm.
基金supported in part by the National Natural Science Foundation of China(62473142,62203161)Special Funding Support for the Construction of Innovative Provinces in Hunan Province(2021GK1010)+1 种基金Guangdong Basic and Applied Basic Research Foundation(2024A1515011579),Project of State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle(72275007).
文摘In this paper,a novel data-driven bipartite consensus control scheme is proposed for the rotation problem of large workpieces with multi-robot systems(MRSs)under a directed communication topology.The rotation of a large workpiece is described as the MRSs with cooperation and antagonism interaction.By the signed graph theory,it is further transformed into a bipartite consensus control problem,where all followers are uniformly degenerated into the general nonlinear systems based on the lateral error model.To augment the flexibility of control protocol and improve control performance,a higher-dimensional full form dynamic linearization(FFDL)technique is committed to the MRSs.The control input criterion function consists of the data model based on FFDL and the bipartite consensus error based on the signed graph theory,and the proposed control protocol is given by optimizing this criterion function.In this way,this scheme has a higher degree of freedom and better adaptive adjustment capability while not excessively increasing the control method complexity,and it can also be compatible with other forms of dynamic linearization techniques in MRSs.Further,three matrix norm lemmas are introduced to deal with the challenges of stability analysis caused by higher matrix dimensions and more robots.Finally,the effectiveness of the proposed method is verified by numerical simulations.
基金supported by the China Postdoctoral Science Foundation(No.2024M762602).
文摘This paper proposes a novel edge-event-triggered sliding mode control strategy to achieve consensus of heterogeneous multi-agent systems(MASs)consisting of the firstorder and second-order agents under the influence of unknown disturbances.The edge-event-triggered mechanism(EETM)is uniquely defined and differs from traditional node-based approaches by focusing on individual edges rather than nodes,resulting in more efficient communication.The edge-eventtriggered mechanism utilizes the relative positions between an agent and its neighbors,independent of global coordinates.The designed controller has two components.First,the sliding mode control strategy enables heterogeneous MASs to reach and maintain their states on the sliding mode surface despite unknown disturbances.Subsequently,the equivalent control strategy,combined with the edge-event-triggered mechanism,guarantees the consensus of heterogeneous MASs while avoiding Zeno behavior.Triggering functions are developed for agents that form the same edge,allowing asynchronous mechanisms triggered by events of the edge.By employing the Lyapunov stability theory,sufficient conditions for the proposed control strategy are given.Simulation results demonstrate the effectiveness of the theoretical results,showing significant communication reduction compared to traditional event-triggered approaches.
基金partially supported by the National Natural Science Foundation of China(Grant Nos.62033003,62373113,62203119)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515011527,2023B1515120010)。
文摘This work investigates the implementation of distributed prescribed-time neural network(NN)control for nonlinear multiagent systems(MASs)using a dynamic memory event-triggered mechanism(DMETM).First,it introduces a composite learning technique in NN control.This method leverages the prediction error within the NN update law to enhance the accuracy of the unknown nonlinearity estimation.Subsequently,by introducing a time-varying transformation,the study establishes a distributed prescribed-time control algorithm.The notable feature of this algorithm is its ability to predetermine the convergence time independently of initial conditions or control parameters.Moreover,the DMETM is established to reduce the actuation frequency of the controller.Unlike the conventional memoryless dynamic event-triggered mechanism,the DMETM incorporates a memory term to further increase triggering intervals.Utilizing a distributed estimator for the leader,the DMETM-based NN prescribed-time controller is designed in a fully distributed manner,which guarantees that all signals in the closed-loop system remain bounded within the prescribed time.Finally,simulation results are presented to validate the effectiveness of the proposed algorithm.
基金supported by the National Natural Science Foundation of China (Nos. U1713223 and 61876187)by the Beijing Nova Program (No. 2018047)by the Joint Fund of Ministry of Education of China for Equipment Preresearch
文摘This paper investigates the consensus disturbance rejection problem among multiple high-order agents with directed graphs.Based on disturbance observers,distributed consensus disturbance rejection protocols are constructed in leaderless and leader-follower consensus setups.Different from the previous related papers,the consensus protocols in this paper are developed in a fully distributed fashion,relying on only the state information of each agent and its neighbors.Sufficient conditions are provided to guarantee that the asymptotic stability of high-order multi-agent systems can be reached with matched disturbances.
基金The research is supported in part by the NASA/LEQSF(2013-15)-Phase3-06 through[grant number NNX13AD29A]the National Natural Science Foundation of China through[grant number NSFC 61273087]and 111 Project of China(B12018)by NSERC Discovery Grant in Canada.This research is conducted mostly in Jiangnan University,Wuxi,China.
文摘This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback controller.The weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time MASs.Explicit synthesis procedures are also developed.Our work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.
基金fully supported by a grant from the Research Grants Council of the Hong Kong Special Administrative Region under Theme-based Research Scheme through Project No.T23-701/14-N
文摘Recent advances in a power electronic device called an electric spring(ES)provide feasible solutions to meeting critical customers’requirements for voltage quality.A new version of the ES was introduced based on a back-to-back converter(ESBC)configuration which extends the operating range and improves the voltage suppression performance to facilitate ultra-high renewable penetration.This paper proposes an efficient control method to facilitate the voltage regulation function of an ESBC with non-critical loads.Particularly,the proposed method is suitable for various load characteristics.We also develop a consensus algorithm to coordinate multiple ESs for maintaining critical bus voltage in distribution systems with ultra-high renewable penetration.The proposed operation of the ESBC is verified by simulation of a modified IEEE 15-bus distribution network.The results show that the ESBC can effectively regulate system voltage and is superior to the original version of the ES.
基金supported by National Basic Research Program of China (973 Program) (No.2010CB731800)National Natural Science Foundation of China (Nos.60934003 and 61074065)Natural Science Foundation of Hebei Province (No.F2012203119)
文摘This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.51679057,51309067,and 51609048)the Outstanding Youth Science Foundation of Heilongjiang Providence of China(Grant No.JC2016007)the Natural Science Foundation of Heilongjiang Province,China(Grant No.E2016020)
文摘A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles（multi-AUVs） with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated.This is accomplished by first dividing the communication topology into two different switching parts,i.e.,velocity and position,to reduce the data capacity per data package sent between the multi-AUVs in the ocean.Then,the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model.Consequently,coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies.Considering these factors,sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem.Finally,simulation results that validate the theoretical results are presented.
