This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state d...This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.展开更多
For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies ...For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.展开更多
This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-ord...This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.展开更多
Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so...Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.展开更多
Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem o...Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.展开更多
We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and fin...We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.展开更多
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog...This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.展开更多
In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to cont...In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint （LC-HMAS-OPFGA）, which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path （MCA-SP-OPGGA）, and the optimal persistent graph adjusting algorithm based on the shortest path （SP-OPGAA）. Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS- OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC- HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.展开更多
In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multipl...In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.展开更多
In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay fo...In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.展开更多
Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model ...Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.展开更多
This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and ...This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.展开更多
This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulati...This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.展开更多
This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will...This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason＇s rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.展开更多
In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystem...In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain theory.Finally, a numerical example is given to illustrate the effectiveness of the obtained result.展开更多
In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three di...In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents＇ dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader＇s dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.展开更多
In this paper,we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks.A distributed dynamic observer based on the leaders’measurable output was desi...In this paper,we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks.A distributed dynamic observer based on the leaders’measurable output was designed to estimate a convex combination of the leaders’states.First,for the case of followers with identical state dimensions,distributed dynamic state and output feedback control laws were designed based on the state-coupled item and the internal model compensator to drive the uncertain followers into the leaders’convex hull within the output regulation framework.Subsequently,we extended theoretical results to the case where followers have nonidentical state dimensions.By establishing virtual errors between the dynamic observer and followers,a new distributed dynamic output feedback control law was constructed using only the states of the compensator to solve the robust output containment problem.Finally,two numerical simulations verified the effectiveness of the designed schemes.展开更多
We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers ar...We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode（LSM） as well as nonsingular terminal sliding mode（NTSM）, respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.展开更多
This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distribu...This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distributed control strategy that ensures the output of each follower converges to the convex hull formed by the outputs of a group of leaders in mean square sense.A novel distributed observer is proposed by tackling both Markovian randomly switching topologies and unbounded delays.Then,a distributed state feedback controller and a distributed output feedback controller are developed based on the distributed observer,respectively.Finally,simulation results are provided to demonstrate the effectiveness of the proposed controllers.展开更多
基金supported in part by the National Natural Science Foundation of China(Grant Nos.62473135 and 62173121)。
文摘This paper investigates the observer-based prescribed-time time-varying output formation-containment(PT-TV-OFC)control problem for heterogeneous multi-agent systems in which the different agents have different state dimensions.The system comprises one tracking leader,multiple formation leaders,and followers,where two types of leaders are used to generate a reference trajectory for movement and achieve specific formation,respectively.Firstly,a prescribed-time dynamics observer is constructed for the formation leaders to estimate the tracking leader's dynamic model and state.On this basis,a prescribed-time control protocol is designed for the formation leaders to achieve time-varying output formation.Then,a prescribed-time convex hull observer is designed for the followers to estimate information regarding the convex hull formed by the formation leaders.Using the estimated convex hull information,a prescribed-time containment control protocol is designed to ensure the followers converge into the convex hull.Furthermore,using Lyapunov stability theory,the stability of systems is proved in detail,which implies that the heterogeneous multi-agent systems can achieve PT-TV-OFC control.Finally,numerical simulations validate the feasibility of the theoretical results.
基金The National Key R&D Program of China(2021ZD0201300)the National Natural Science Foundation of China(624B2058,U1913602 and 61936004)+1 种基金the Innovation Group Project of the National Natural Science Foundation of China(61821003)the 111 Project on Computational Intelligence and Intelligent Control(B18024).
文摘For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.
基金2024 Jiangsu Province Youth Science and Technology Talent Support Project2024 Yancheng Key Research and Development Plan(Social Development)projects,“Research and Application of Multi Agent Offline Distributed Trust Perception Virtual Wireless Sensor Network Algorithm”and“Research and Application of a New Type of Fishery Ship Safety Production Monitoring Equipment”。
文摘This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.
基金supported in part by the National Natural Science Foundation of China(62273255,62350003,62088101)the Shanghai Science and Technology Cooperation Project(22510712000,21550760900)+1 种基金the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities
文摘Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.
基金supported by National Natural Science Foundation of China(Nos.61104092,61134007 and 61203147)the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.
基金Project supported by the National Basic Research Program of China (Grant No. 2010CB731800)the National Natural Science Foundation of China (Grant Nos. 60934003 and 61074065)the Natural Science Foundation of Hebei Province,China (Grant Nos. F2012203119 and 1208085MF111)
文摘We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.
文摘This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.71671059,71401048,71521001,71690230,71690235,and 71472058)the Anhui Provincial Natural Science Foundation,China(Grant No.1508085MG140)
文摘In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint （LC-HMAS-OPFGA）, which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path （MCA-SP-OPGGA）, and the optimal persistent graph adjusting algorithm based on the shortest path （SP-OPGAA）. Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS- OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC- HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.
基金supported in part by the National Natural Science Foundation of China(Nos.62022055,61973215).
文摘In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,61203126,and 61104092)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.
基金supported by the Beijing Municipal Science&Technology Commission China(No.Z19111000270000)the National Natural Science Foundation of China(Nos.62203050,51774042).
文摘Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.
基金Project supported by the National Basic Research Program of China (Grant No. 2010CB731803)the National Natural Science Foundation of China (Grant Nos. 60934003, 60974123, 61172064, and 61273181)+1 种基金the Science and Technology Commission of Shanghai Municipality, China (Grant No. 11511501202)the Chenguang Program, China (Grant No. 09CG06)
文摘This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.
基金National Key Research and Development Plan of China(No.2017YFB1201003-020)National Natural Science Foundation of China(Nos.61663020,61661027)。
文摘This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.
基金supported by the National Basic Research Program of China (Grant No. 2010CB731800)the Key Project of the National Natural Science Foundation of China (Grant No. 60934003)+2 种基金the National Natural Science Foundation of China (Grant No. 61074065)the Key Project for the Natural Science Research of Hebei Education Department,China (Grant No. ZD200908)the Key Project for the Shanghai Committee of Science and Technology (Grant No. 08511501600)
文摘This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason＇s rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.
基金supported in part by the National Natural Science Foundation of China(61473195,61603081,61773131,61773056,61873306,U1966202,61803305,61873338)the China Postdoctoral Science Foundation(2015M580513)Research Fund for the Taishan Scholar Project of Shandong Province of China(TSQN201812052)。
文摘In this paper, we consider the distributed adaptive fault-tolerant output regulation problem for heterogeneous multiagent systems with matched system uncertainties and mismatched coupling uncertainties among subsystems under the influence of actuator faults. First, distributed finite-time observers are proposed for all subsystems to observe the state of the exosystem. Then, a novel fault-tolerant controller is designed to compensate for the influence of matched system uncertainties and actuator faults. By using the linear matrix inequality technique, a sufficient condition is provided to guarantee the solvability of the considered problem in the presence of mismatched coupling uncertainties. Moreover, it is shown that the system in closed-loop with the developed controller can achieve output regulation by using the Lyapunov stability theory and cyclic-small-gain theory.Finally, a numerical example is given to illustrate the effectiveness of the obtained result.
文摘In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents＇ dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader＇s dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.
基金supported by the National Science Foundation of China (51977040)
文摘In this paper,we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks.A distributed dynamic observer based on the leaders’measurable output was designed to estimate a convex combination of the leaders’states.First,for the case of followers with identical state dimensions,distributed dynamic state and output feedback control laws were designed based on the state-coupled item and the internal model compensator to drive the uncertain followers into the leaders’convex hull within the output regulation framework.Subsequently,we extended theoretical results to the case where followers have nonidentical state dimensions.By establishing virtual errors between the dynamic observer and followers,a new distributed dynamic output feedback control law was constructed using only the states of the compensator to solve the robust output containment problem.Finally,two numerical simulations verified the effectiveness of the designed schemes.
基金Project supported by the National Natural Science Foundation of China(Grant No.61203142)the Natural Science Foundation of Hebei Province,China(Grant Nos.F2014202206 and F2017202009)
文摘We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode（LSM） as well as nonsingular terminal sliding mode（NTSM）, respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.
基金Supported by National Basic Research Program of China （973 Program） （2010CB731800）, National Natural Science Foundation of China （60934003, 61074065）, Key Project for Natural Science Research of Hebei Education Department （ZD200908）, and the Doctor Foundation of Northeastern University at Qinhuangdao（XNB201507）
文摘This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distributed control strategy that ensures the output of each follower converges to the convex hull formed by the outputs of a group of leaders in mean square sense.A novel distributed observer is proposed by tackling both Markovian randomly switching topologies and unbounded delays.Then,a distributed state feedback controller and a distributed output feedback controller are developed based on the distributed observer,respectively.Finally,simulation results are provided to demonstrate the effectiveness of the proposed controllers.
