This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method...This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method is employed to achieve secure control by estimating the system's state in real time.Secondly,by combining a memory-based adaptive eventtriggered mechanism with neural networks,the paper aims to approximate the nonlinear terms in the networked system and efficiently conserve system resources.Finally,based on a two-degree-of-freedom model of a vehicle affected by crosswinds,this paper constructs a multi-unmanned ground vehicle(Multi-UGV)system to validate the effectiveness of the proposed method.Simulation results show that the proposed control strategy can effectively handle external disturbances such as crosswinds in practical applications,ensuring the stability and reliable operation of the Multi-UGV system.展开更多
This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-ord...This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.展开更多
This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control s...This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.展开更多
Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distribut...Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.展开更多
This paper proposes a Multi-Agent Attention Proximal Policy Optimization(MA2PPO)algorithm aiming at the problems such as credit assignment,low collaboration efficiency and weak strategy generalization ability existing...This paper proposes a Multi-Agent Attention Proximal Policy Optimization(MA2PPO)algorithm aiming at the problems such as credit assignment,low collaboration efficiency and weak strategy generalization ability existing in the cooperative pursuit tasks of multiple unmanned aerial vehicles(UAVs).Traditional algorithms often fail to effectively identify critical cooperative relationships in such tasks,leading to low capture efficiency and a significant decline in performance when the scale expands.To tackle these issues,based on the proximal policy optimization(PPO)algorithm,MA2PPO adopts the centralized training with decentralized execution(CTDE)framework and introduces a dynamic decoupling mechanism,that is,sharing the multi-head attention(MHA)mechanism for critics during centralized training to solve the credit assignment problem.This method enables the pursuers to identify highly correlated interactions with their teammates,effectively eliminate irrelevant and weakly relevant interactions,and decompose large-scale cooperation problems into decoupled sub-problems,thereby enhancing the collaborative efficiency and policy stability among multiple agents.Furthermore,a reward function has been devised to facilitate the pursuers to encircle the escapee by combining a formation reward with a distance reward,which incentivizes UAVs to develop sophisticated cooperative pursuit strategies.Experimental results demonstrate the effectiveness of the proposed algorithm in achieving multi-UAV cooperative pursuit and inducing diverse cooperative pursuit behaviors among UAVs.Moreover,experiments on scalability have demonstrated that the algorithm is suitable for large-scale multi-UAV systems.展开更多
This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state d...This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.展开更多
This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and coll...An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.展开更多
Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for ...Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for impulse effects. Firstly, to address the inequality constraints,the penalty method is introduced. Then, a novel optimization strategy is developed, which only requires that the team objective function be strongly convex.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
Cyber attacks pose severe threats on synchronization of multi-agent systems.Deception attack,as a typical type of cyber attack,can bypass the surveillance of the attack detection mechanism silently,resulting in a heav...Cyber attacks pose severe threats on synchronization of multi-agent systems.Deception attack,as a typical type of cyber attack,can bypass the surveillance of the attack detection mechanism silently,resulting in a heavy loss.Therefore,the problem of mean-square bounded synchronization in multi-agent systems subject to deception attacks is investigated in this paper.The control signals can be replaced with false data from controllerto-actuator channels or the controller.The success of the attack is measured through a stochastic variable.A distributed impulsive controller using a pinning strategy is redesigned,which ensures that mean-square bounded synchronization is achieved in the presence of deception attacks.Some sufficient conditions are derived,in which upper bounds of the synchronization error are given.Finally,two numerical simulations with symmetric and asymmetric network topologies are given to illustrate the theoretical results.展开更多
This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator contro...This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory.Moreover,the leader’s input is nonzero and not available to all followers.By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed.It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded.Finally,simulation results are presented for verifying the effectiveness of the proposed control method.展开更多
In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control sc...In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.展开更多
This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-d...This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.展开更多
In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystem...In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain theory.Finally, a numerical example is given to illustrate the effectiveness of the obtained result.展开更多
In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-...In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.展开更多
This paper considers the leader-following consensus for a class of nonlinear switched multi-agent systems(MASs)with non-strict feedback forms and input saturations under unknown switching mechanisms.First,in virtue of...This paper considers the leader-following consensus for a class of nonlinear switched multi-agent systems(MASs)with non-strict feedback forms and input saturations under unknown switching mechanisms.First,in virtue of Gaussian error functions,the saturation nonlinearities are represented by asymmetric saturation models.Second,neural networks are utilized to approximate some unknown packaged functions,and the structural property of Gaussian basis functions is introduced to handle the non-strict feedback terms.Third,by using the backstepping process,a common Lyapunov function is constructed for all the subsystems of the followers.At last,we propose an adaptive consensus protocol,under which the tracking error under arbitrary switching converges to a small neighborhood of the origin.The effectiveness of the proposed protocol is illustrated by a simulation example.展开更多
This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on th...This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.展开更多
In this study,the bipartite time-varying output formation tracking problem for heterogeneous multi-agent systems(MASs)with multiple leaders and switching commu-nication networks is considered.Note that the switching c...In this study,the bipartite time-varying output formation tracking problem for heterogeneous multi-agent systems(MASs)with multiple leaders and switching commu-nication networks is considered.Note that the switching communication networks may be connected or disconnected.To address this problem,a novel reduced-dimensional observer-based fully distributed asynchronous dynamic edge-event-triggered output feedback control protocol is developed,and the Zeno behavior is ruled out.The theoretical analysis gives the admissible switching frequency and switching width under the proposed control protocol.Different from the existing works,the control protocol reduces the dimension of information to be transmitted between neighboring agents.Moreover,since an additional positive internal dynamic variable is introduced into the triggering functions,the control protocol can guarantee a larger inter-event time interval compared with previous results.Finally,a simulation example is given to verify the effectiveness and performance of the theoretical result.展开更多
The paper proposes a novel approach for formationcontainment control based on a dynamic event-triggering mechanism for multi-agent systems.The leader-leader and follower-follower communications are reduced by utilizin...The paper proposes a novel approach for formationcontainment control based on a dynamic event-triggering mechanism for multi-agent systems.The leader-leader and follower-follower communications are reduced by utilizing the distributed dynamic event-triggered framework.We consider two separate sets of design parameters:one set comprising control and dynamic event-triggering parameters for the leaders and a second set similar to the first one with different values for the followers.The proposed algorithm includes two novel stages of codesign optimization to simultaneously compute the two sets of parameters.The design optimizations are convex and use the weighted sum approach to enable a structured trade-off between the formation-containment convergence rate and associated communications.Simulations based on non-holonomic mobile robot multi-agent systems quantify the effectiveness of the proposed approach.展开更多
基金The National Natural Science Foundation of China(W2431048)The Science and Technology Research Program of Chongqing Municipal Education Commission,China(KJZDK202300807)The Chongqing Natural Science Foundation,China(CSTB2024NSCQQCXMX0052).
文摘This paper addresses the consensus problem of nonlinear multi-agent systems subject to external disturbances and uncertainties under denial-ofservice(DoS)attacks.Firstly,an observer-based state feedback control method is employed to achieve secure control by estimating the system's state in real time.Secondly,by combining a memory-based adaptive eventtriggered mechanism with neural networks,the paper aims to approximate the nonlinear terms in the networked system and efficiently conserve system resources.Finally,based on a two-degree-of-freedom model of a vehicle affected by crosswinds,this paper constructs a multi-unmanned ground vehicle(Multi-UGV)system to validate the effectiveness of the proposed method.Simulation results show that the proposed control strategy can effectively handle external disturbances such as crosswinds in practical applications,ensuring the stability and reliable operation of the Multi-UGV system.
基金2024 Jiangsu Province Youth Science and Technology Talent Support Project2024 Yancheng Key Research and Development Plan(Social Development)projects,“Research and Application of Multi Agent Offline Distributed Trust Perception Virtual Wireless Sensor Network Algorithm”and“Research and Application of a New Type of Fishery Ship Safety Production Monitoring Equipment”。
文摘This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.
文摘This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.
基金supported in part by the National Natural Science Foundation of China under Grant 6237319in part by the Postgraduate Research and Practice Innovation Program of Jiangsu Province under Grant KYCX230479.
文摘Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.
基金supported by the National Research and Development Program of China under Grant JCKY2018607C019in part by the Key Laboratory Fund of UAV of Northwestern Polytechnical University under Grant 2021JCJQLB0710L.
文摘This paper proposes a Multi-Agent Attention Proximal Policy Optimization(MA2PPO)algorithm aiming at the problems such as credit assignment,low collaboration efficiency and weak strategy generalization ability existing in the cooperative pursuit tasks of multiple unmanned aerial vehicles(UAVs).Traditional algorithms often fail to effectively identify critical cooperative relationships in such tasks,leading to low capture efficiency and a significant decline in performance when the scale expands.To tackle these issues,based on the proximal policy optimization(PPO)algorithm,MA2PPO adopts the centralized training with decentralized execution(CTDE)framework and introduces a dynamic decoupling mechanism,that is,sharing the multi-head attention(MHA)mechanism for critics during centralized training to solve the credit assignment problem.This method enables the pursuers to identify highly correlated interactions with their teammates,effectively eliminate irrelevant and weakly relevant interactions,and decompose large-scale cooperation problems into decoupled sub-problems,thereby enhancing the collaborative efficiency and policy stability among multiple agents.Furthermore,a reward function has been devised to facilitate the pursuers to encircle the escapee by combining a formation reward with a distance reward,which incentivizes UAVs to develop sophisticated cooperative pursuit strategies.Experimental results demonstrate the effectiveness of the proposed algorithm in achieving multi-UAV cooperative pursuit and inducing diverse cooperative pursuit behaviors among UAVs.Moreover,experiments on scalability have demonstrated that the algorithm is suitable for large-scale multi-UAV systems.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62473135 and 62173121)。
文摘This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
基金founded by the National Science and Technology Council of the Republic of China under contract NSTC113-2221-E-019-032.
文摘An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.
基金supported in part by the National Natural Science Foundation of China(62276119)the Natural Science Foundation of Jiangsu Province(BK20241764)the Postgraduate Research & Practice Innovation Program of Jiangsu Province(KYCX22_2860)
文摘Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for impulse effects. Firstly, to address the inequality constraints,the penalty method is introduced. Then, a novel optimization strategy is developed, which only requires that the team objective function be strongly convex.
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 by the National Natural Science Foundation of China(61988101,61922030,61773163)Shanghai Rising-Star Program(18QA1401400)+3 种基金the International(Regional)Cooperation and Exchange Project(61720106008)the Natural Science Foundation of Shanghai(17ZR1406800)the Fundamental Research Funds for the Central Universitiesthe 111 Project(B17017)。
文摘Cyber attacks pose severe threats on synchronization of multi-agent systems.Deception attack,as a typical type of cyber attack,can bypass the surveillance of the attack detection mechanism silently,resulting in a heavy loss.Therefore,the problem of mean-square bounded synchronization in multi-agent systems subject to deception attacks is investigated in this paper.The control signals can be replaced with false data from controllerto-actuator channels or the controller.The success of the attack is measured through a stochastic variable.A distributed impulsive controller using a pinning strategy is redesigned,which ensures that mean-square bounded synchronization is achieved in the presence of deception attacks.Some sufficient conditions are derived,in which upper bounds of the synchronization error are given.Finally,two numerical simulations with symmetric and asymmetric network topologies are given to illustrate the theoretical results.
基金This work was partially supported by the National Natural Science Foundation of China(62033003,62003098)the Local Innovative and Research Teams Project of Guangdong Special Support Program(2019BT02X353)the China Postdoctoral Science Foundation(2019M662813,2020T130124).
文摘This paper considers the human-in-the-loop leader-following consensus control problem of multi-agent systems(MASs)with unknown matched nonlinear functions and actuator faults.It is assumed that a human operator controls the MASs via sending the command signal to a non-autonomous leader which generates the desired trajectory.Moreover,the leader’s input is nonzero and not available to all followers.By using neural networks and fault estimators to approximate unknown nonlinear dynamics and identify the actuator faults,respectively,the neighborhood observer-based neural fault-tolerant controller with dynamic coupling gains is designed.It is proved that the state of each follower can synchronize with the leader’s state under a directed graph and all signals in the closed-loop system are guaranteed to be cooperatively uniformly ultimately bounded.Finally,simulation results are presented for verifying the effectiveness of the proposed control method.
基金supported in part by the National Natural Science Foundation of Chin(61503194,61533010,61374055)the Ph.D.Programs Foundation of Ministry of Education of China(20110142110036)+6 种基金the Natural Science Foundation o Jiangsu Province(BK20131381,BK20140877)China Postdoctoral Scienc Foundation(2015M571788)Jiangsu Planned Projects for Postdoctoral Re search Funds(1402066B)the Foundation of the Key Laboratory of Marin Dynamic Simulation and Control for the Ministry of Transport(DMU)(DMU MSCKLT2016005)Jiangsu Government Scholarship for Overseas Studie(2017-037)the Key University Natural Science Research Project of Jiangsu Province(17KJA120003)the Scientific Foundation of Nanjing University of Posts and Telecommunications(NUPTSF)(NY214076)
文摘In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.
基金supported by the National Natural Science Foundation of China(61773056)the Scientific and Technological Innovation Foundation of Shunde Graduate School,University of Science and Technology Beijing(USTB)(BK19AE018)+2 种基金the Fundamental Research Funds for the Central Universities of USTB(FRF-TP-20-09B,230201606500061,FRF-DF-20-35,FRF-BD-19-002A)supported by Zhejiang Natural Science Foundation(LD21F030001)supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(Ministry of Science and Information and Communications Technology)(NRF-2020R1A2C1005449)。
文摘This paper investigates the event-triggered security consensus problem for nonlinear multi-agent systems(MASs)under denial-of-service(Do S)attacks over an undirected graph.A novel adaptive memory observer-based anti-disturbance control scheme is presented to improve the observer accuracy by adding a buffer for the system output measurements.Meanwhile,this control scheme can also provide more reasonable control signals when Do S attacks occur.To save network resources,an adaptive memory event-triggered mechanism(AMETM)is also proposed and Zeno behavior is excluded.It is worth mentioning that the AMETM's updates do not require global information.Then,the observer and controller gains are obtained by using the linear matrix inequality(LMI)technique.Finally,simulation examples show the effectiveness of the proposed control scheme.
基金supported in part by the National Natural Science Foundation of China(61473195,61603081,61773131,61773056,61873306,U1966202,61803305,61873338)the China Postdoctoral Science Foundation(2015M580513)Research Fund for the Taishan Scholar Project of Shandong Province of China(TSQN201812052)。
文摘In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain theory.Finally, a numerical example is given to illustrate the effectiveness of the obtained result.
基金supported by the National Natural Science Foundation of China(61921004,61520106009,U1713209,61973074)the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.
基金supported in part by the National Key Research and Development Program(2018YFA0702202)in part by the Leadingedge Technology Program of Jiangsu National Science Foundation(BK20202011)in part by the Research Grants of the Nanjing University of Posts and Telecommunications(NY220158,NY220177)。
文摘This paper considers the leader-following consensus for a class of nonlinear switched multi-agent systems(MASs)with non-strict feedback forms and input saturations under unknown switching mechanisms.First,in virtue of Gaussian error functions,the saturation nonlinearities are represented by asymmetric saturation models.Second,neural networks are utilized to approximate some unknown packaged functions,and the structural property of Gaussian basis functions is introduced to handle the non-strict feedback terms.Third,by using the backstepping process,a common Lyapunov function is constructed for all the subsystems of the followers.At last,we propose an adaptive consensus protocol,under which the tracking error under arbitrary switching converges to a small neighborhood of the origin.The effectiveness of the proposed protocol is illustrated by a simulation example.
基金supported in part by the National Natural Science Foundation of China(61873056,61621004,61420106016)the Fundamental Research Funds for the Central Universities in China(N2004001,N2004002,N182608004)the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China(2013ZCX01)。
文摘This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.
基金supported by National Key R&D Program of China(2018YFA0702200)the National Natural Science Foundation of China(61627809, 62173080)Liaoning Revitalization Talents Program(XLYC1801005)
文摘In this study,the bipartite time-varying output formation tracking problem for heterogeneous multi-agent systems(MASs)with multiple leaders and switching commu-nication networks is considered.Note that the switching communication networks may be connected or disconnected.To address this problem,a novel reduced-dimensional observer-based fully distributed asynchronous dynamic edge-event-triggered output feedback control protocol is developed,and the Zeno behavior is ruled out.The theoretical analysis gives the admissible switching frequency and switching width under the proposed control protocol.Different from the existing works,the control protocol reduces the dimension of information to be transmitted between neighboring agents.Moreover,since an additional positive internal dynamic variable is introduced into the triggering functions,the control protocol can guarantee a larger inter-event time interval compared with previous results.Finally,a simulation example is given to verify the effectiveness and performance of the theoretical result.
基金partially supported by the Natural Sciencesand Engineering Research Council(NSERC)of Canada through the NSERC Discovery(RGPIN-2016-04988)。
文摘The paper proposes a novel approach for formationcontainment control based on a dynamic event-triggering mechanism for multi-agent systems.The leader-leader and follower-follower communications are reduced by utilizing the distributed dynamic event-triggered framework.We consider two separate sets of design parameters:one set comprising control and dynamic event-triggering parameters for the leaders and a second set similar to the first one with different values for the followers.The proposed algorithm includes two novel stages of codesign optimization to simultaneously compute the two sets of parameters.The design optimizations are convex and use the weighted sum approach to enable a structured trade-off between the formation-containment convergence rate and associated communications.Simulations based on non-holonomic mobile robot multi-agent systems quantify the effectiveness of the proposed approach.
