In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the prese...In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.展开更多
Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol ...Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).展开更多
This paper addresses an improved distributed model predictive control （DMPC） scheme for multiagent systems with an attempt to improving its consistency. The deviation between what an agent is actually doing and what...This paper addresses an improved distributed model predictive control （DMPC） scheme for multiagent systems with an attempt to improving its consistency. The deviation between what an agent is actually doing and what its neighbors believe that agent is doing is penalized in the cost function of each agent. At each sampling instant the compatibility constraint of each agent is set tighter than the previous sampling instant. Like the traditional approach, the performance cost is utilized as the Lyapunov function to prove closed-looped stability. The closed-loop stability is guaranteed if the weight matrix for deviation in the cost function are sufficiently large. The proposed distributed control scheme is formulated as quadratic programming with quadratic constraints. A numerical example is given to illustrate the effectiveness of the proposed scheme.展开更多
The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning contro...The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents’ states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO’s are illuminated.展开更多
In this paper,the static consensus problem and the dynamic consensus problem are considered for a class of high-order multiagent systems.With the proposed consensus protocols,necessary and sufficient conditions for th...In this paper,the static consensus problem and the dynamic consensus problem are considered for a class of high-order multiagent systems.With the proposed consensus protocols,necessary and sufficient conditions for the consensus problems are obtained.For the static consensus protocol,the desired consensus speed can be achieved by adjusting feedback gains.Simulations show the effectiveness of the proposed consensus protocols.展开更多
This paper is concerned with the consensus problem for high-order continuous-time multiagent systems with both state and input delays.A novel approach referred to as pseudopredictor feedback protocol is proposed.Unlik...This paper is concerned with the consensus problem for high-order continuous-time multiagent systems with both state and input delays.A novel approach referred to as pseudopredictor feedback protocol is proposed.Unlike the predictorbased feedback protocol which utilizes the open-loop dynamics to predict the future states,the pseudo-predictor feedback protocol uses the closed-loop dynamics of the multiagent systems to predict the future agent states.Full-order/reduced-order observer-based pseudo-predictor feedback protocols are proposed,and it is shown that the consensus is achieved and the input delay is compensated by the proposed protocols.Necessary and sufficient conditions guaranteeing the stability of the integral delay systems are provided in terms of the stability of the series of retarded-type time-delay systems.Furthermore,compared with the existing predictor-based protocols,the proposed pseudo-predictor feedback protocol is independent of the input signals of the neighboring agents and is easier to implement.Finally,a numerical example is given to demonstrate the effectiveness of the proposed approaches.展开更多
The bipartite consensus problem is addressed for a class of nonlinear time-delay multiagent systems in this paper.Therein,the uncertain nonlinear dynamics of all agents satisfy a Lipschitz growth condition with unknow...The bipartite consensus problem is addressed for a class of nonlinear time-delay multiagent systems in this paper.Therein,the uncertain nonlinear dynamics of all agents satisfy a Lipschitz growth condition with unknown constants,and part of the state information cannot be measured.In this case,a time-varying gain compensator is constructed,which only utilizes the output information of the follower and its neighbors.Subsequently,a distributed output feedback control protocol is proposed on the basis of the compensator.According to Lyapunov stability theory,it is proved that the bipartite consensus can be guaranteed by means of the designed control protocol.Different from the existing literature,this paper studies the leader-follower consensus problem under a weaker connectivity condition,i.e.,the signed directed graph is structurally balanced and contains a directed spanning tree.Two simulation examples are carried out to show the feasibility of the proposed control strategy.展开更多
This paper addresses the distributed optimization problem of discrete-time multiagent systems with nonconvex control input constraints and switching topologies.We introduce a novel distributed optimization algorithm w...This paper addresses the distributed optimization problem of discrete-time multiagent systems with nonconvex control input constraints and switching topologies.We introduce a novel distributed optimization algorithm with a switching mechanism to guarantee that all agents eventually converge to an optimal solution point,while their control inputs are constrained in their own nonconvex region.It is worth noting that the mechanism is performed to tackle the coexistence of the nonconvex constraint operator and the optimization gradient term.Based on the dynamic transformation technique,the original nonlinear dynamic system is transformed into an equivalent one with a nonlinear error term.By utilizing the nonnegative matrix theory,it is shown that the optimization problem can be solved when the union of switching communication graphs is jointly strongly connected.Finally,a numerical simulation example is used to demonstrate the acquired theoretical results.展开更多
In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number...In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.展开更多
In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is prop...In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.展开更多
This paper investigates the bipartite consensus control problem for discrete time nonlinear multiagent systems(MASs)based on data-driven adaptive method.To begin with,a dynamic linearization strategy is utilized to es...This paper investigates the bipartite consensus control problem for discrete time nonlinear multiagent systems(MASs)based on data-driven adaptive method.To begin with,a dynamic linearization strategy is utilized to establish the relationship between bipartite tracking error and control input for MASs.Secondly,the unknown parameter linearly associated with control input is acquired by the adaptive control approach,and a discrete time extended state observer is designed to estimate nonlinear uncertainties.Thirdly,in order to achieve the prescribed performance,the constrained bipartite consensus error is transformed through a strictly increasing function.Based on the converted equivalent unconstrained error function,a sliding mode controller using only the input and output data of the MASs is designed.Finally,the efficacy of the controller is confirmed by simulations.展开更多
In this paper, the containment control problem in nonlinear multi-agent systems(NMASs) under denial-of-service(DoS) attacks is addressed. Firstly, a prediction model is obtained using the broad learning technique to t...In this paper, the containment control problem in nonlinear multi-agent systems(NMASs) under denial-of-service(DoS) attacks is addressed. Firstly, a prediction model is obtained using the broad learning technique to train historical data generated by the system offline without DoS attacks. Secondly, the dynamic linearization method is used to obtain the equivalent linearization model of NMASs. Then, a novel model-free adaptive predictive control(MFAPC) framework based on historical and online data generated by the system is proposed, which combines the trained prediction model with the model-free adaptive control method. The development of the MFAPC method motivates a much simpler robust predictive control solution that is convenient to use in the case of DoS attacks. Meanwhile, the MFAPC algorithm provides a unified predictive framework for solving consensus tracking and containment control problems. The boundedness of the containment error can be proven by using the contraction mapping principle and the mathematical induction method. Finally, the proposed MFAPC is assessed through comparative experiments.展开更多
Both evolutionary computation(EC)and multiagent systems(MAS)study the emergence of intelligence through the interaction and cooperation of a group of individuals.EC focuses on solving various complex optimization prob...Both evolutionary computation(EC)and multiagent systems(MAS)study the emergence of intelligence through the interaction and cooperation of a group of individuals.EC focuses on solving various complex optimization problems,while MAS provides a flexible model for distributed artificial intelligence.Since their group interaction mechanisms can be borrowed from each other,many studies have attempted to combine EC and MAS.With the rapid development of the Internet of Things,the confluence of EC and MAS has become more and more important,and related articles have shown a continuously growing trend during the last decades.In this survey,we first elaborate on the mutual assistance of EC and MAS from two aspects,agent-based EC and EC-assisted MAS.Agent-based EC aims to introduce characteristics of MAS into EC to improve the performance and parallelism of EC,while EC-assisted MAS aims to use EC to better solve optimization problems in MAS.Furthermore,we review studies that combine the cooperation mechanisms of EC and MAS,which greatly leverage the strengths of both sides.A description framework is built to elaborate existing studies.Promising future research directions are also discussed in conjunction with emerging technologies and real-world applications.展开更多
Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback com...Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback combination of the agent's own state and neighbors' output,which can achieve exponential output consensus through intermittent communication. The controller is obtained by solving two linear matrix equations, and Zeno behavior is excluded.展开更多
针对存在输入时滞的多智能体系统(multi-agent system,MAS)滞后一致性问题,提出一种基于时基生成器(time base generator,TBG)的二阶MAS预设时间领导跟随滞后一致性控制方法,使得稳定时间与系统初始状态无关且可预先设定。首先,提出一...针对存在输入时滞的多智能体系统(multi-agent system,MAS)滞后一致性问题,提出一种基于时基生成器(time base generator,TBG)的二阶MAS预设时间领导跟随滞后一致性控制方法,使得稳定时间与系统初始状态无关且可预先设定。首先,提出一种误差变换方法,将具有时滞的误差系统转换为无时滞误差系统。然后,利用TBG函数构造误差辅助变量并构造相应滑模面,进而设计预设时间控制器。同时,证明所设计控制器的预设时间稳定性。最后,通过数值仿真验证所提方法的可行性及有效性。仿真结果表明,MAS能够实现精确的预设时间滞后一致性。展开更多
基金supported in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.
基金supported by the National Nature Science Foundation of China(U21A20166)the Science and Technology Development Foundation of Jilin Province(20230508095RC)+2 种基金the Major Science and Technology Projects of Jilin Province and Changchun City(20220301033GX)the Development and Reform Commission Foundation of Jilin Province(2023C034-3)the Interdisciplinary Integration and Innovation Project of JLU(JLUXKJC2020202).
文摘Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).
基金supported by the National Natural Science Foundation of China(No.60874046,60974090)the Ph.D.Programs Foundation of the Ministry of Education of China(No.200806110021)the Natural Science Foundation of Chongqing of China(CSTS No.2008BB2049)
文摘This paper addresses an improved distributed model predictive control （DMPC） scheme for multiagent systems with an attempt to improving its consistency. The deviation between what an agent is actually doing and what its neighbors believe that agent is doing is penalized in the cost function of each agent. At each sampling instant the compatibility constraint of each agent is set tighter than the previous sampling instant. Like the traditional approach, the performance cost is utilized as the Lyapunov function to prove closed-looped stability. The closed-loop stability is guaranteed if the weight matrix for deviation in the cost function are sufficiently large. The proposed distributed control scheme is formulated as quadratic programming with quadratic constraints. A numerical example is given to illustrate the effectiveness of the proposed scheme.
基金supported by the National Natural Science Foundation of China (No.60875039, 60774016, 60904022, 60805039)
文摘The objectives of this work are the development and design of disturbance observers (DO’s) for a team of agents that accomplish consensus on agents’ states in the presence of exogenous disturbances. A pinning control strategy is designed for a part of agents of the multiagent systems without disturbances, and this pinning control can bring multiple agents’ states to reaching an expected consensus value. Under the effect of the disturbances, nonlinear disturbance observers are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multiagent systems with disturbances under the composite controller can be achieved. Finally, by applying an example of multiagent systems with switching topologies and exogenous disturbances, the design of the parameters of DO’s are illuminated.
基金supported by the National Natural Science Foundation of China(No.10701042)
文摘In this paper,the static consensus problem and the dynamic consensus problem are considered for a class of high-order multiagent systems.With the proposed consensus protocols,necessary and sufficient conditions for the consensus problems are obtained.For the static consensus protocol,the desired consensus speed can be achieved by adjusting feedback gains.Simulations show the effectiveness of the proposed consensus protocols.
基金supported in part by the National Natural Science Foundation of China(61903282,61625305)China Postdoctoral Science Foundation(2020T130488)9。
文摘This paper is concerned with the consensus problem for high-order continuous-time multiagent systems with both state and input delays.A novel approach referred to as pseudopredictor feedback protocol is proposed.Unlike the predictorbased feedback protocol which utilizes the open-loop dynamics to predict the future states,the pseudo-predictor feedback protocol uses the closed-loop dynamics of the multiagent systems to predict the future agent states.Full-order/reduced-order observer-based pseudo-predictor feedback protocols are proposed,and it is shown that the consensus is achieved and the input delay is compensated by the proposed protocols.Necessary and sufficient conditions guaranteeing the stability of the integral delay systems are provided in terms of the stability of the series of retarded-type time-delay systems.Furthermore,compared with the existing predictor-based protocols,the proposed pseudo-predictor feedback protocol is independent of the input signals of the neighboring agents and is easier to implement.Finally,a numerical example is given to demonstrate the effectiveness of the proposed approaches.
基金supported by the National Natural ScienceFoundation ofChina(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The bipartite consensus problem is addressed for a class of nonlinear time-delay multiagent systems in this paper.Therein,the uncertain nonlinear dynamics of all agents satisfy a Lipschitz growth condition with unknown constants,and part of the state information cannot be measured.In this case,a time-varying gain compensator is constructed,which only utilizes the output information of the follower and its neighbors.Subsequently,a distributed output feedback control protocol is proposed on the basis of the compensator.According to Lyapunov stability theory,it is proved that the bipartite consensus can be guaranteed by means of the designed control protocol.Different from the existing literature,this paper studies the leader-follower consensus problem under a weaker connectivity condition,i.e.,the signed directed graph is structurally balanced and contains a directed spanning tree.Two simulation examples are carried out to show the feasibility of the proposed control strategy.
基金Project supported by the National Engineering Research Center of Rail Transportation Operation and Control System,Beijing Jiaotong University(Grant No.NERC2019K002)。
文摘This paper addresses the distributed optimization problem of discrete-time multiagent systems with nonconvex control input constraints and switching topologies.We introduce a novel distributed optimization algorithm with a switching mechanism to guarantee that all agents eventually converge to an optimal solution point,while their control inputs are constrained in their own nonconvex region.It is worth noting that the mechanism is performed to tackle the coexistence of the nonconvex constraint operator and the optimization gradient term.Based on the dynamic transformation technique,the original nonlinear dynamic system is transformed into an equivalent one with a nonlinear error term.By utilizing the nonnegative matrix theory,it is shown that the optimization problem can be solved when the union of switching communication graphs is jointly strongly connected.Finally,a numerical simulation example is used to demonstrate the acquired theoretical results.
基金supported in part by the National Key Research and Development Program of China(2018YFA0702200)the National Natural Science Foundation of China(52377079,62203097,62373196)。
文摘In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.
基金supported by the National Defense Basic Scientific Research Project(JCKY2020130C025)the National Science and Technology Major Project(J2019-III-0020-0064,J2019-V-0014-0109)。
文摘In this paper,fixed-time consensus tracking for mul-tiagent systems(MASs)with dynamics in the form of strict feed-back affine nonlinearity is addressed.A fixed-time antidistur-bance consensus tracking protocol is proposed,which consists of a distributed fixed-time observer,a fixed-time disturbance observer,a nonsmooth antidisturbance backstepping controller,and the fixed-time stability analysis is conducted by using the Lyapunov theory correspondingly.This paper includes three main improvements.First,a distributed fixed-time observer is developed for each follower to obtain an estimate of the leader’s output by utilizing the topology of the communication network.Second,a fixed-time disturbance observer is given to estimate the lumped disturbances for feedforward compensation.Finally,a nonsmooth antidisturbance backstepping tracking controller with feedforward compensation for lumped disturbances is designed.In order to mitigate the“explosion of complexity”in the tradi-tional backstepping approach,we have implemented a modified nonsmooth command filter to enhance the performance of the closed-loop system.The simulation results show that the pro-posed method is effective.
基金supported in part by the National Natural Science Foundation of China(62373113,62433014,62433018)the Guangdong Basic and Applied Basic Research Foundation(2023A1515011527,2023B1515120010).Recommended by Associate Editor Xiaohua Ge。
文摘This paper investigates the bipartite consensus control problem for discrete time nonlinear multiagent systems(MASs)based on data-driven adaptive method.To begin with,a dynamic linearization strategy is utilized to establish the relationship between bipartite tracking error and control input for MASs.Secondly,the unknown parameter linearly associated with control input is acquired by the adaptive control approach,and a discrete time extended state observer is designed to estimate nonlinear uncertainties.Thirdly,in order to achieve the prescribed performance,the constrained bipartite consensus error is transformed through a strictly increasing function.Based on the converted equivalent unconstrained error function,a sliding mode controller using only the input and output data of the MASs is designed.Finally,the efficacy of the controller is confirmed by simulations.
基金supported in part by the National Natural Science Foundation of China(62403396,62433018,62373113)the Guangdong Basic and Applied Basic Research Foundation(2023A1515011527,2023B1515120010)the Postdoctoral Fellowship Program of CPSF(GZB20240621)
文摘In this paper, the containment control problem in nonlinear multi-agent systems(NMASs) under denial-of-service(DoS) attacks is addressed. Firstly, a prediction model is obtained using the broad learning technique to train historical data generated by the system offline without DoS attacks. Secondly, the dynamic linearization method is used to obtain the equivalent linearization model of NMASs. Then, a novel model-free adaptive predictive control(MFAPC) framework based on historical and online data generated by the system is proposed, which combines the trained prediction model with the model-free adaptive control method. The development of the MFAPC method motivates a much simpler robust predictive control solution that is convenient to use in the case of DoS attacks. Meanwhile, the MFAPC algorithm provides a unified predictive framework for solving consensus tracking and containment control problems. The boundedness of the containment error can be proven by using the contraction mapping principle and the mathematical induction method. Finally, the proposed MFAPC is assessed through comparative experiments.
基金supported in part by the National Key Research and Development Project(2023YFE0206200)the National Natural Science Foundation of China(U23B2058)+3 种基金in part by Guangdong Regional Joint Foundation Key Project(2022B1515120076)the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(RS-2025-00555463&RS-2025-25456394)the Tianjin Top Scientist Studio Project(24JRRCRC00030)the Tianjin Belt and Road Joint Laboratory(24PTLYHZ00250).
文摘Both evolutionary computation(EC)and multiagent systems(MAS)study the emergence of intelligence through the interaction and cooperation of a group of individuals.EC focuses on solving various complex optimization problems,while MAS provides a flexible model for distributed artificial intelligence.Since their group interaction mechanisms can be borrowed from each other,many studies have attempted to combine EC and MAS.With the rapid development of the Internet of Things,the confluence of EC and MAS has become more and more important,and related articles have shown a continuously growing trend during the last decades.In this survey,we first elaborate on the mutual assistance of EC and MAS from two aspects,agent-based EC and EC-assisted MAS.Agent-based EC aims to introduce characteristics of MAS into EC to improve the performance and parallelism of EC,while EC-assisted MAS aims to use EC to better solve optimization problems in MAS.Furthermore,we review studies that combine the cooperation mechanisms of EC and MAS,which greatly leverage the strengths of both sides.A description framework is built to elaborate existing studies.Promising future research directions are also discussed in conjunction with emerging technologies and real-world applications.
基金supported by the National Science and Technology Innovation 2030-Major Program(2022ZD 0115403)the National Natural Science Foundation of China(61991414)+1 种基金Chongqing Natural Science Foundation(CSTB2023NSCQJQX0018)Beijing Natural Science Foundation(L221005)
文摘Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback combination of the agent's own state and neighbors' output,which can achieve exponential output consensus through intermittent communication. The controller is obtained by solving two linear matrix equations, and Zeno behavior is excluded.
文摘针对存在输入时滞的多智能体系统(multi-agent system,MAS)滞后一致性问题,提出一种基于时基生成器(time base generator,TBG)的二阶MAS预设时间领导跟随滞后一致性控制方法,使得稳定时间与系统初始状态无关且可预先设定。首先,提出一种误差变换方法,将具有时滞的误差系统转换为无时滞误差系统。然后,利用TBG函数构造误差辅助变量并构造相应滑模面,进而设计预设时间控制器。同时,证明所设计控制器的预设时间稳定性。最后,通过数值仿真验证所提方法的可行性及有效性。仿真结果表明,MAS能够实现精确的预设时间滞后一致性。
