This paper addresses the synchronization of follower agents’state vectors with that of a leader in high-order nonlinear multi-agent systems.The proposed low-complexity control scheme employs high-gain observers to es...This paper addresses the synchronization of follower agents’state vectors with that of a leader in high-order nonlinear multi-agent systems.The proposed low-complexity control scheme employs high-gain observers to estimate higher-order synchronization errors,enabling the controller to rely solely on relative output measurements.This approach significantly reduces the dependence on full-state information,which is often infeasible or costly in practical engineering applications.An output feedback control strategy is developed to overcome these limitations while ensuring robust and effective synchronization.Simulation results are provided to demonstrate the effectiveness of the proposed approach and validate the theoretical findings.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 event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order...In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.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,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed t...In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.展开更多
In this paper, 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
Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonli...Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β-consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.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
In this paper,the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among...In this paper,the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among agents.For each agent with lower triangular structure,a time-varying gain compensator is first designed by relative output information of neighboring agents.Subsequently,a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero.It is worth noting that an internal dynamic variable is introduced in triggering function,which plays an essential role in excluding the Zeno behavior and reducing energy consumption.Furthermore,the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior.Finally,simulation examples are provided to illustrate the effectiveness of the presented results.展开更多
This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order le...This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.展开更多
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
This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under cyber-attacks.First,a decentraliz...This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under cyber-attacks.First,a decentralized unknown input observer is established to estimate relative states and actuator faults.Second,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking controllers.Criteria of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,respectively.Simulation example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.展开更多
This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange amo...This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties.展开更多
This paper studies the challenging problem of model-free adaptive(MFA)security tracking control for nonlinear multi-agent systems(MASs)under mixed denial-of-service(DoS)attacks.First,in contrast to existing results fo...This paper studies the challenging problem of model-free adaptive(MFA)security tracking control for nonlinear multi-agent systems(MASs)under mixed denial-of-service(DoS)attacks.First,in contrast to existing results focusing on DoS attacks with one monotonic characteristic only,a more realistic mixed DoS attacks model is constructed,which can describe multiple types of DoS attacks and reflect the real attack strategy.Second,to mitigate the negative effect of mixed DoS attacks on control performance,an effective memory event-triggered mechanism is considered.Compared with existing event-triggered schemes,the developed memory event-triggered scheme utilizes historically triggered data and allows the released data to adjust adaptively using the long-term changes of the system state,which optimizes the utilization of communication resources and withstands the effect of mixed DoS attacks.Further,with the help of a dynamic linearization technique based on memory eventtriggered strategy,a linearized data model of the MASs is first established only depending on input/output information.Then,an improved memory event-triggered MFA security tracking control scheme is developed so that MASs can guarantee the tracking errors of all agents are bounded under mixed DoS attacks.Finally,a simulation example is presented of the designed MFA security tracking control method to illustrate its usefulness and advantages.展开更多
In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the le...In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.展开更多
This paper discusses adaptive distributed optimization with predefined accuracy for high-order nonlinear multi-agent systems(MASs)that are subject to disturbances and nonlinear uncertainties.To estimate the global opt...This paper discusses adaptive distributed optimization with predefined accuracy for high-order nonlinear multi-agent systems(MASs)that are subject to disturbances and nonlinear uncertainties.To estimate the global optimal solution in realtime,a distributed proportional-integral optimization technique is used to generate a virtual system for each agent.For the unknown control gain of the controller,the Nussbaum function is employed.Then,a fuzzy adaptive observer is designed to estimate the unmeasured state by leveraging the general approximation capabilities of fuzzy logic systems.Using the Lyapunov stability method and backstepping technique,we develop the adaptive law and a new distributed controller.This ensures that the outputs of multi-agent systems converge to optimal values.Finally,a simulation example is used to confirm the viability of the presented control mechanism.展开更多
This paper deals with the distributed consensus problem of high-order multi-agent systems with nonlinear dynamics subject to external disturbances. The network topology is assumed to be a fixed undirected graph. Some ...This paper deals with the distributed consensus problem of high-order multi-agent systems with nonlinear dynamics subject to external disturbances. The network topology is assumed to be a fixed undirected graph. Some sufficient conditions are derived, under which the consensus can be achieved with a prescribed norm bound. It is shown that the parameter matrix in the consensus algorithm can be designed by solving two linear matrix inequalities (LMIs). In particular, if the nonzero eigenvalues of the laplacian matrix ac-cording to the network topology are identical, the parameter matrix in the consensus algorithm can be de-signed by solving one LMI. A numerical example is given to illustrate the proposed results.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
As optimization of parameters affects prediction accuracy and generalization ability of support vector regression(SVR) greatly and the predictive model often mismatches nonlinear system model predictive control,a mult...As optimization of parameters affects prediction accuracy and generalization ability of support vector regression(SVR) greatly and the predictive model often mismatches nonlinear system model predictive control,a multi-step model predictive control based on online SVR(OSVR) optimized by multi-agent particle swarm optimization algorithm(MAPSO) is put forward. By integrating the online learning ability of OSVR, the predictive model can self-correct and adapt to the dynamic changes in nonlinear process well.展开更多
文摘This paper addresses the synchronization of follower agents’state vectors with that of a leader in high-order nonlinear multi-agent systems.The proposed low-complexity control scheme employs high-gain observers to estimate higher-order synchronization errors,enabling the controller to rely solely on relative output measurements.This approach significantly reduces the dependence on full-state information,which is often infeasible or costly in practical engineering applications.An output feedback control strategy is developed to overcome these limitations while ensuring robust and effective synchronization.Simulation results are provided to demonstrate the effectiveness of the proposed approach and validate the theoretical findings.
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supported by National Key R&D Program of China(No.2018YFA0703800)Science Fund for Creative Research Group of the National Natural Science Foundation of China(No.61621002)。
文摘In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.
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.
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.
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 the National Natural Science Foundation of China (Grant No 60525303)the Natural Science Foundation of Hebei Province,China (Grant No 2006000270)
文摘Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β-consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.
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This work was supported by 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 bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems.A signed digraph is presented to describe the collaborative and competitive interactions among agents.For each agent with lower triangular structure,a time-varying gain compensator is first designed by relative output information of neighboring agents.Subsequently,a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero.It is worth noting that an internal dynamic variable is introduced in triggering function,which plays an essential role in excluding the Zeno behavior and reducing energy consumption.Furthermore,the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior.Finally,simulation examples are provided to illustrate the effectiveness of the presented results.
基金supported by National Basic Research Program of China (973 Program) (No.2010CB731800)National Natural Science Foundation of China (Nos.60934003 and 61074065)Natural Science Foundation of Hebei Province (No.F2012203119)
文摘This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.
基金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supported by the National Key R&D Program of China(2018AAA0102804)National Natural Science Foundation of China(62020106003,62103250,61773201)+1 种基金Fundamental Research Funds for the Central Universities(NC2020002,NP2020103)Shanghai Sailing Program(21YF1414000)。
文摘This paper investigates the distributed fault-tolerant consensus tracking problem of nonlinear multi-agent systems with general incipient and abrupt time-varying actuator faults under cyber-attacks.First,a decentralized unknown input observer is established to estimate relative states and actuator faults.Second,the estimated and output neighboring information is combined with distributed fault-tolerant consensus tracking controllers.Criteria of reaching leader-following exponential consensus tracking of multi-agent systems under both connectivity-maintained and connectivity-mixed attacks are derived with average dwelling time,attack frequency,and attack activation rate technique,respectively.Simulation example verifies the effectiveness of the fault-tolerant consensus tracking algorithm.
基金supported by the National Natural Science Foundation of China.(60904008,61473176)the Natural Science Foundation of Shandong Province for Outstanding Young Talents in Provincial Universities(ZR2015JL021)
文摘This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties.
基金supported by the National Natural Science Foundation of China(Grant Nos.62303125,62373113,62433018,62433014,62303121,62373111)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2022A1515110949,2023A1515011527,2023B1515120010,2025A1515011343,2023A1515010855)the Science and Technology Planning Project of Guangzhou City(Grant No.2025A04J4336)。
文摘This paper studies the challenging problem of model-free adaptive(MFA)security tracking control for nonlinear multi-agent systems(MASs)under mixed denial-of-service(DoS)attacks.First,in contrast to existing results focusing on DoS attacks with one monotonic characteristic only,a more realistic mixed DoS attacks model is constructed,which can describe multiple types of DoS attacks and reflect the real attack strategy.Second,to mitigate the negative effect of mixed DoS attacks on control performance,an effective memory event-triggered mechanism is considered.Compared with existing event-triggered schemes,the developed memory event-triggered scheme utilizes historically triggered data and allows the released data to adjust adaptively using the long-term changes of the system state,which optimizes the utilization of communication resources and withstands the effect of mixed DoS attacks.Further,with the help of a dynamic linearization technique based on memory eventtriggered strategy,a linearized data model of the MASs is first established only depending on input/output information.Then,an improved memory event-triggered MFA security tracking control scheme is developed so that MASs can guarantee the tracking errors of all agents are bounded under mixed DoS attacks.Finally,a simulation example is presented of the designed MFA security tracking control method to illustrate its usefulness and advantages.
基金supported by the National Natural Science Foundation of China(61203354)
文摘In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the leaders.Finally, all the theoretical results are illustrated by numerical simulations.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.62173121,12301185,6257317362473135)。
文摘This paper discusses adaptive distributed optimization with predefined accuracy for high-order nonlinear multi-agent systems(MASs)that are subject to disturbances and nonlinear uncertainties.To estimate the global optimal solution in realtime,a distributed proportional-integral optimization technique is used to generate a virtual system for each agent.For the unknown control gain of the controller,the Nussbaum function is employed.Then,a fuzzy adaptive observer is designed to estimate the unmeasured state by leveraging the general approximation capabilities of fuzzy logic systems.Using the Lyapunov stability method and backstepping technique,we develop the adaptive law and a new distributed controller.This ensures that the outputs of multi-agent systems converge to optimal values.Finally,a simulation example is used to confirm the viability of the presented control mechanism.
文摘This paper deals with the distributed consensus problem of high-order multi-agent systems with nonlinear dynamics subject to external disturbances. The network topology is assumed to be a fixed undirected graph. Some sufficient conditions are derived, under which the consensus can be achieved with a prescribed norm bound. It is shown that the parameter matrix in the consensus algorithm can be designed by solving two linear matrix inequalities (LMIs). In particular, if the nonzero eigenvalues of the laplacian matrix ac-cording to the network topology are identical, the parameter matrix in the consensus algorithm can be de-signed by solving one LMI. A numerical example is given to illustrate the proposed results.
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the National Natural Science Foundation of China(No.60905066)the Natural Science Foundation of Chongqing(No.cstc2018jcyjA0667)
文摘As optimization of parameters affects prediction accuracy and generalization ability of support vector regression(SVR) greatly and the predictive model often mismatches nonlinear system model predictive control,a multi-step model predictive control based on online SVR(OSVR) optimized by multi-agent particle swarm optimization algorithm(MAPSO) is put forward. By integrating the online learning ability of OSVR, the predictive model can self-correct and adapt to the dynamic changes in nonlinear process well.
