Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults.The communication topology of multi-agent systems is fixed and dire...Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults.The communication topology of multi-agent systems is fixed and directed.To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults,the sliding mode method is introduced.Control protocol for multi-agent systems demonstrates its effectiveness.Finally,simulations are provided to verify the effectiveness of the proposed algorithm.展开更多
To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties a...To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.展开更多
To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.Firs...To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.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
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,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed t...In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.展开更多
This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order ...This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.展开更多
This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all fo...This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all followers are subjected to multi-type input constraints such as unknown asymmetric saturation,unknown dead-zone and their integration.A unified representation is presented to overcome the difficulties originating from multi-agent input constraints.Moreover,the uncertain system functions in a non-lower triangular form and the interaction terms among agents are dealt with by exploiting the fuzzy logic systems and their special property.Furthermore,by introducing a nonlinear filter to alleviate the problem of“explosion of complexity”during the backstepping design,a distributed common adaptive control protocol is proposed to ensure that the synchronization errors converge to a small neighborhood of the origin despite the existence of multiple input constraints and arbitrary switching communication topologies.Both stability analysis and simulation results are conducted to show the effectiveness and performance of the proposed control methodology.展开更多
This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating t...This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating the adaptive control technique and the adaptive distributed observer method. The design procedure is illustrated by an example with a group of Van der Pol oscillators as the followers and a harmonic system as the leader.展开更多
In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs ...In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.展开更多
Using graph theory, matrix theory, adaptive control, fuzzy logic systems and other tools, this paper studies the leader-follower global consensus of two kinds of stochastic uncertain nonlinear multi-agent systems(MAS)...Using graph theory, matrix theory, adaptive control, fuzzy logic systems and other tools, this paper studies the leader-follower global consensus of two kinds of stochastic uncertain nonlinear multi-agent systems(MAS). Firstly, the fuzzy logic systems replaces the feedback compensator as the feedforward compensator to describe the uncertain nonlinear dynamics. Secondly, based on the network topology, all followers are divided into two categories: One is the followers who can obtain the leader signal, and the other is the follower who cannot obtain the leader signal. Thirdly, based on the adaptive control method, distributed control protocols are designed for the two types of followers. Fourthly, based on matrix theory and stochastic Lyapunov stability theory, the stability of the closed-loop systems is analyzed. Finally, three simulation examples are given to verify the effectiveness of the proposed control algorithms.展开更多
We investigate the third-order leader-following consensus problem of nonlinear multi-agent systems in undirected network topologies.Based on graph theory and Lyapunov stability theory,the adaptive control method is em...We investigate the third-order leader-following consensus problem of nonlinear multi-agent systems in undirected network topologies.Based on graph theory and Lyapunov stability theory,the adaptive control method is employed to achieve leader-following consensus in an undirected network of agents with nonlinear third-order dynamics against the perturbations.Simulation examples validate the correctness of the results and show that the control gains have a great influence on the convergence performance of errors for a short time.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
For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the prop...For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent system.By constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is required.The stability analysis has proved that all signals of the closed-loop are semi-globally uniformly bounded.The Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.展开更多
This paper investigates adaptive containment control for a class of fractional-order multi-agent systems(FOMASs)with time-varying parameters and disturbances.By using the bounded estimation method,the difficulty gener...This paper investigates adaptive containment control for a class of fractional-order multi-agent systems(FOMASs)with time-varying parameters and disturbances.By using the bounded estimation method,the difficulty generated by the timevarying parameters and disturbances is overcome.The command filter is introduced to solve the complexity problem inherent in adaptive backstepping control.Meanwhile,in order to eliminate the effect of filter errors,a novel distributed error compensating scheme is constructed,in which only the local information from the neighbor agents is utilized.Then,a distributed adaptive containment control scheme for FOMASs is developed based on backstepping to guarantee that the outputs of all the followers are steered to the convex hull spanned by the leaders.Based on the extension of Barbalat's lemma to fractional-order integrals,it can be proven that the containment errors and the compensating signals have asymptotic convergence.Finally,three simulation examples are given to show the feasibility and effectiveness of the proposed control method.展开更多
In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a...In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.展开更多
In this paper,the problems of robust consensus tracking control for the second-order multi-agent system with uncertain model parameters and nonlinear disturbances are considered.An adaptive control strategy is propose...In this paper,the problems of robust consensus tracking control for the second-order multi-agent system with uncertain model parameters and nonlinear disturbances are considered.An adaptive control strategy is proposed to smooth the agent’s trajectory,and the neural network is constructed to estimate the system’s unknown components.The consensus conditions are demonstrated for tracking a leader with nonlinear dynamics under an adaptive control algorithm in the absence of model uncertainties.Then,the results are extended to the system with unknown time-varying disturbances by applying the neural network estimation to compensating for the uncertain parts of the agents’models.Update laws are designed based on the Lyapunov function terms to ensure the effectiveness of robust control.Finally,the theoretical results are verified by numerical simulations,and a comparative experiment is conducted,showing that the trajectories generated by the proposed method exhibit less oscillation and converge faster.展开更多
This paper is primarily devoted to the distributed consensus tracking control for heterogeneous nonlinear multi-agent systems(MASs)with a directed communication topology.Taking the considered heterogeneous nonlinear M...This paper is primarily devoted to the distributed consensus tracking control for heterogeneous nonlinear multi-agent systems(MASs)with a directed communication topology.Taking the considered heterogeneous nonlinear MASs own unknown nonlinear term and quantised input signals,the adaptive radial basis function neural networks(RBFNNs)-based approximator is utilised to tackle these interesting challenges.Next,considering the boundness of disturbances,the upper bound of time-varying disturbance is utilised in the controller design.Then,a distributed dynamic compensator is developed to complete coordination task,which only requires to exchange output information via the communication network.In addition,the compensator transforms the adaptive output consensus problem into asymptotic tracking problem,without needing extra stability conditions.Finally,by means of the Lyapunov stability theory,the satisfying result of the consensus error converging to zero asymptotically can be obtained.Through simulations,the effectiveness of the developed protocol is illustrated.展开更多
This paper focuses on the problem of leaderfollowing consensus for nonlinear cascaded multi-agent systems.The control strategies for these systems are transformed into successive control problem schemes for lower-orde...This paper focuses on the problem of leaderfollowing consensus for nonlinear cascaded multi-agent systems.The control strategies for these systems are transformed into successive control problem schemes for lower-order error subsystems.A distributed consensus analysis for the corresponding error systems is conducted by employing recursive methods and virtual controllers,accompanied by a series of Lyapunov functions devised throughout the iterative process,which solves the leaderfollowing consensus problem of a class of nonlinear cascaded multi-agent systems.Specific simulation examples illustrate the effectiveness of the proposed control algorithm.展开更多
This paper investigates an innovative predefined time output feedback adaptive fuzzy consensus control method for fractional-order nonlinear multi-agent systems(FONMASs).The controlled system includes unmeasurable sta...This paper investigates an innovative predefined time output feedback adaptive fuzzy consensus control method for fractional-order nonlinear multi-agent systems(FONMASs).The controlled system includes unmeasurable states and unknown nonlinear functions.The fuzzy state observer is built to evaluate unmeasurable state variables,unknown nonlinear functions are addressed through fuzzy logic system approximation.Combining with fractional-order dynamic surface control(DSC)and the theory of stability of predefined time,the control method is raised.By employing FODSC techniques,the computational explosion problem can be avoided.The stability of the closed-loop system is analyzed using the Lyapunov function,demonstrating that FONMAS achieves semi-global practical predefined time stability(SGPPTS).Eventually,the validity of the prescribed control strategy is verified by a simulation case.展开更多
基金2024 Jiangsu Province Youth Science and Technology Talent Support Project(funded by Yancheng Science and Technology Association)The 2024 Yancheng Key Research and Development Plan(Social Development)projects include“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Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults.The communication topology of multi-agent systems is fixed and directed.To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults,the sliding mode method is introduced.Control protocol for multi-agent systems demonstrates its effectiveness.Finally,simulations are provided to verify the effectiveness of the proposed algorithm.
基金National Natural Science Foundation of China(No.61963029)Jiangxi Provincial Natural Science Foundation(Nos.20224BAB202027 and 20232ACB202007)。
文摘To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.
基金National Natural Science Foundation of China(No.62073296)Natural Science Foundation of Zhejiang Province,China(No.LZ23F030010)Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province,China Jiliang University(No.ZNZZSZ-CJLU2022-03)Rights and permissions。
文摘To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.
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 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the National Natural Science Foundation of China(Nos.61973189,62073190)the Research Fund for the Taishan Scholar Project of Shandong Province of China(No.ts20190905)the Natural Science Foundation of Shandong Province of China(No.ZR2020ZD25).
文摘In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.
基金supported by the National Natural Science Foundation of China(6137510561403334)
文摘This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.
基金supported by the Chinese National Natural Science Foundation(No.71871135)the Fundamental Research Funds for the Central Universities(Nos.222201714055,222201717006).
文摘This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all followers are subjected to multi-type input constraints such as unknown asymmetric saturation,unknown dead-zone and their integration.A unified representation is presented to overcome the difficulties originating from multi-agent input constraints.Moreover,the uncertain system functions in a non-lower triangular form and the interaction terms among agents are dealt with by exploiting the fuzzy logic systems and their special property.Furthermore,by introducing a nonlinear filter to alleviate the problem of“explosion of complexity”during the backstepping design,a distributed common adaptive control protocol is proposed to ensure that the synchronization errors converge to a small neighborhood of the origin despite the existence of multiple input constraints and arbitrary switching communication topologies.Both stability analysis and simulation results are conducted to show the effectiveness and performance of the proposed control methodology.
文摘This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating the adaptive control technique and the adaptive distributed observer method. The design procedure is illustrated by an example with a group of Van der Pol oscillators as the followers and a harmonic system as the leader.
文摘In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.
基金supported by Natural Science Foundation of China(No.61573013)。
文摘Using graph theory, matrix theory, adaptive control, fuzzy logic systems and other tools, this paper studies the leader-follower global consensus of two kinds of stochastic uncertain nonlinear multi-agent systems(MAS). Firstly, the fuzzy logic systems replaces the feedback compensator as the feedforward compensator to describe the uncertain nonlinear dynamics. Secondly, based on the network topology, all followers are divided into two categories: One is the followers who can obtain the leader signal, and the other is the follower who cannot obtain the leader signal. Thirdly, based on the adaptive control method, distributed control protocols are designed for the two types of followers. Fourthly, based on matrix theory and stochastic Lyapunov stability theory, the stability of the closed-loop systems is analyzed. Finally, three simulation examples are given to verify the effectiveness of the proposed control algorithms.
基金Supported by the National Natural Science Foundation of China(No 71073071)the Social Science Foundation of Education Ministry(No 09YJA790088)the Major Program of Social Science Foundation of Jiangsu Education Office(No 2010-2-10).
文摘We investigate the third-order leader-following consensus problem of nonlinear multi-agent systems in undirected network topologies.Based on graph theory and Lyapunov stability theory,the adaptive control method is employed to achieve leader-following consensus in an undirected network of agents with nonlinear third-order dynamics against the perturbations.Simulation examples validate the correctness of the results and show that the control gains have a great influence on the convergence performance of errors for a short time.
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the National Natural Science Foundation of China(61673101,61973131,61733006,U1813201)the Science and Technology Project of Jilin Province(20210509053RQ)the Fourteenth Five Year Science Research Plan of Jilin Province(JJKH20220115KJ)。
文摘For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent system.By constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is required.The stability analysis has proved that all signals of the closed-loop are semi-globally uniformly bounded.The Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.
基金National Key R&D Program of China(2018YFA0702200)National Natural Science Foundation of China(61627809,62173080)Liaoning Revitalization Talents Program(XLYC1801005)。
文摘This paper investigates adaptive containment control for a class of fractional-order multi-agent systems(FOMASs)with time-varying parameters and disturbances.By using the bounded estimation method,the difficulty generated by the timevarying parameters and disturbances is overcome.The command filter is introduced to solve the complexity problem inherent in adaptive backstepping control.Meanwhile,in order to eliminate the effect of filter errors,a novel distributed error compensating scheme is constructed,in which only the local information from the neighbor agents is utilized.Then,a distributed adaptive containment control scheme for FOMASs is developed based on backstepping to guarantee that the outputs of all the followers are steered to the convex hull spanned by the leaders.Based on the extension of Barbalat's lemma to fractional-order integrals,it can be proven that the containment errors and the compensating signals have asymptotic convergence.Finally,three simulation examples are given to show the feasibility and effectiveness of the proposed control method.
基金supported in part by the National Natural Science Foundation of China(U1804147,61833001,61873139,61573129)the Innovative Scientists and Technicians Team of Henan Polytechnic University(T2019-2)the Innovative Scientists and Technicians Team of Henan Provincial High Education(20IRTSTHN019)。
文摘In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.
基金supported by the Science&Technology Department of Sichuan Province under Grant No.2020YJ0044。
文摘In this paper,the problems of robust consensus tracking control for the second-order multi-agent system with uncertain model parameters and nonlinear disturbances are considered.An adaptive control strategy is proposed to smooth the agent’s trajectory,and the neural network is constructed to estimate the system’s unknown components.The consensus conditions are demonstrated for tracking a leader with nonlinear dynamics under an adaptive control algorithm in the absence of model uncertainties.Then,the results are extended to the system with unknown time-varying disturbances by applying the neural network estimation to compensating for the uncertain parts of the agents’models.Update laws are designed based on the Lyapunov function terms to ensure the effectiveness of robust control.Finally,the theoretical results are verified by numerical simulations,and a comparative experiment is conducted,showing that the trajectories generated by the proposed method exhibit less oscillation and converge faster.
基金funded by the National Science Foundation of China(Grant Nos.62373176 and 61973146),the Applied Basic Research Program of Liaoning Province(No.2022JH2/101300276),and the Key Project of the Educational Department of Liaoning Province(Grant No.JYTZD2023084).
文摘This paper is primarily devoted to the distributed consensus tracking control for heterogeneous nonlinear multi-agent systems(MASs)with a directed communication topology.Taking the considered heterogeneous nonlinear MASs own unknown nonlinear term and quantised input signals,the adaptive radial basis function neural networks(RBFNNs)-based approximator is utilised to tackle these interesting challenges.Next,considering the boundness of disturbances,the upper bound of time-varying disturbance is utilised in the controller design.Then,a distributed dynamic compensator is developed to complete coordination task,which only requires to exchange output information via the communication network.In addition,the compensator transforms the adaptive output consensus problem into asymptotic tracking problem,without needing extra stability conditions.Finally,by means of the Lyapunov stability theory,the satisfying result of the consensus error converging to zero asymptotically can be obtained.Through simulations,the effectiveness of the developed protocol is illustrated.
基金National Natural Science Foundation of China(No.12071370)。
文摘This paper focuses on the problem of leaderfollowing consensus for nonlinear cascaded multi-agent systems.The control strategies for these systems are transformed into successive control problem schemes for lower-order error subsystems.A distributed consensus analysis for the corresponding error systems is conducted by employing recursive methods and virtual controllers,accompanied by a series of Lyapunov functions devised throughout the iterative process,which solves the leaderfollowing consensus problem of a class of nonlinear cascaded multi-agent systems.Specific simulation examples illustrate the effectiveness of the proposed control algorithm.
基金funded in part by the National Natural Science Foundation of China under Grant Nos.62403226,62176111,and 62333004the Doctoral Research Initiation of Foundation of Liaoning Province,China under Grant No.2021-BS-260+5 种基金the general project of Liaoning Provincial Department of Education under Grant No.LIKZ0627Excellent Young Scientists Fund Program(Overseas)the“Xingliao Talent Plan”for young top talents under Grant No.XLYC22031882024 Fundamental Research Funding of the Educational Department of Liaoning Province under Grant No.LJZZ2224101540062024 Fundamental Research Funding of the Educational Department of Liaoning Province under Grant No.LJZZ2224101540012023 Education Department Basic Research Project(Youth Project)under Grant No.JYTQN2023225。
文摘This paper investigates an innovative predefined time output feedback adaptive fuzzy consensus control method for fractional-order nonlinear multi-agent systems(FONMASs).The controlled system includes unmeasurable states and unknown nonlinear functions.The fuzzy state observer is built to evaluate unmeasurable state variables,unknown nonlinear functions are addressed through fuzzy logic system approximation.Combining with fractional-order dynamic surface control(DSC)and the theory of stability of predefined time,the control method is raised.By employing FODSC techniques,the computational explosion problem can be avoided.The stability of the closed-loop system is analyzed using the Lyapunov function,demonstrating that FONMAS achieves semi-global practical predefined time stability(SGPPTS).Eventually,the validity of the prescribed control strategy is verified by a simulation case.
