This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of un...This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.展开更多
The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ)optimal control ...The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ)optimal control theory.Conventional algorithms for heterogeneous systems are quite complex,requiring the design of a virtual reference generator and the solving of regulation equations.This paper presents a novel distributed asymptotically optimal controller by incorporating the design of distributed observer and feedforward controller.A general form of the distributed controller is obtained by solving an augmented algebraic Riccati equation,which is parallel to classical optimal control theory.The optimal topology is an arbitrary directed graph containing only a spanning tree.It is shown that the proposed algorithms outperform the traditional consensus methods in the convergence speed by selecting proper observer gain matrices,and eliminate the reliance on the nonzero eigenvalues of Laplacian matrix.Simulation example further demonstrates the effectiveness of the proposed scheme and a faster superlinear convergence speed than the existing algorithm.展开更多
This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect a...This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.展开更多
This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected co...This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected communication topology.A distributed observer is designed to estimate the desired attitude and angular velocity for each spacecraft under the generated tree graph.An adaptive controller with a general connected undirected graph is developed to complete the synchronization task.Cases with zero and nonzero final angular velocities are considered.Theoretical proofs and numerical simulations are presented to demonstrate the effectiveness of the proposed controllers.展开更多
This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the lea...This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents,are investigated in this paper.Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems.For the MAS without any leader,the trajectories of all agents converge together when the communication networks contain a directed spanning tree.For the MAS with multiple leaders,the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent.Simulation examples are provided to verify the theoretical results.展开更多
The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the un...The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the unique solvability result for the first-order linear hyperbolic PDE are used to obtain some sufficient conditions for ensuring the finite-time consensus of the leaderless and leader-following MASs driven by first-order linear hyperbolic PDEs.Finally,two numerical examples are provided to verify the effectiveness of the proposed methods.展开更多
基金Research Grants Council of Hong Kong under Grant CityU-11205221.
文摘This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.
基金supported by the Original Exploratory Program Project of National Natural Science Foundation of China under Grant No.62450004the National Natural Science Foundation of China under Grant No.62103240+3 种基金the Joint Funds of the National Natural Science Foundation of China under Grant No.U23A20325the Major Basic Research of Natural Science Foundation of Shandong Province under Grant No.ZR2021ZD14the Youth Foundation of Natural Science Foundation of Shandong Province under Grant No.ZR2021QF147the High-Level Talent Team Project of Qingdao West Coast New Area under Grant No.RCTD-JC-2019-05。
文摘The distributed optimal output synchronization problem for the leaderless heterogeneous multi-agent system with a general global cost function is investigated for the first time by linear quadratic(LQ)optimal control theory.Conventional algorithms for heterogeneous systems are quite complex,requiring the design of a virtual reference generator and the solving of regulation equations.This paper presents a novel distributed asymptotically optimal controller by incorporating the design of distributed observer and feedforward controller.A general form of the distributed controller is obtained by solving an augmented algebraic Riccati equation,which is parallel to classical optimal control theory.The optimal topology is an arbitrary directed graph containing only a spanning tree.It is shown that the proposed algorithms outperform the traditional consensus methods in the convergence speed by selecting proper observer gain matrices,and eliminate the reliance on the nonzero eigenvalues of Laplacian matrix.Simulation example further demonstrates the effectiveness of the proposed scheme and a faster superlinear convergence speed than the existing algorithm.
基金supported by the National Natural Science Foundation of China under Grant No.61733018Shanghai Natural Science Foundation under Grant No.17ZR1445400+2 种基金China Postdoctoral Science Foundation under Grant Nos.2017M610233 and 2016T90373the Fundamental Research Funds for Central Universities under Grant No.222201714030the US Army Research Office under Grant No.W911NF-17-1-0535
文摘This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.
基金This work was supported by the National Natural Science Foundation of China under Grant Nos.11832005 and 12102174.
文摘This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected communication topology.A distributed observer is designed to estimate the desired attitude and angular velocity for each spacecraft under the generated tree graph.An adaptive controller with a general connected undirected graph is developed to complete the synchronization task.Cases with zero and nonzero final angular velocities are considered.Theoretical proofs and numerical simulations are presented to demonstrate the effectiveness of the proposed controllers.
基金Found ation item:the National Natural Science Foundation of China(No.61903249)the Shanghai Natural Science Foundation(No.172R1445400)。
文摘This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents,are investigated in this paper.Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems.For the MAS without any leader,the trajectories of all agents converge together when the communication networks contain a directed spanning tree.For the MAS with multiple leaders,the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent.Simulation examples are provided to verify the theoretical results.
基金the National Natural Science Foundation of China(Nos.11671282 and 12171339)。
文摘The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the unique solvability result for the first-order linear hyperbolic PDE are used to obtain some sufficient conditions for ensuring the finite-time consensus of the leaderless and leader-following MASs driven by first-order linear hyperbolic PDEs.Finally,two numerical examples are provided to verify the effectiveness of the proposed methods.
