In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–d...In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–dual dynamics and the adaptive control technique,a distributed optimal formation controller consists of a velocity reference signal generator and a velocity tracking controller is proposed.By using the optimality condition,the relationship between the equilibrium point of the closed-loop system and the optimal solution of the optimization problem is established.Then,by utilizing Lyapunov stability analysis,it is rigorously proved that the optimal formation is reached with the proposed controller.Lastly,simulation examples are provided to substantiate the theoretical results.展开更多
In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use ...In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use of predictive arguments with a twofold aim:1)Promptly detect malicious agent behaviors affecting normal system operations;2)Apply specific control actions,based on predictive ideas,for mitigating as much as possible undesirable domino effects resulting from adversary operations.Specifically,the multi-agent system is topologically described by a leader-follower digraph characterized by a unique leader and set-theoretic receding horizon control ideas are exploited to develop a distributed algorithm capable to instantaneously recognize the attacked agent.Finally,numerical simulations are carried out to show benefits and effectiveness of the proposed approach.展开更多
This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on th...This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.展开更多
In this 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 distributed H∞control problem of identical linear time invariant multi-agent systems subject to external disturbances. A directed graph containing a spanning tree is used to model the communica...This paper studies the distributed H∞control problem of identical linear time invariant multi-agent systems subject to external disturbances. A directed graph containing a spanning tree is used to model the communication topology. Based on the relative states of the neighbor agents and a subset of absolute states of the agents, distributed static H∞controllers are proposed. The concept of an H∞performance region is extended to the directed graph situation. Then the results are used to solve the leader–follower H∞consensus problem. Sufficient conditions are proposed based on bounded real lemma and algebraic graph theory. The effectiveness of the theoretical results is illustrated via 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
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
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
The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked age...The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.展开更多
Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering.This paper addresses the robust distributed matrix-sca...Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering.This paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown disturbances.Distributed discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of disturbances.Adaptive protocols with time-varying gains obeying differential equations are also designed,which are completely distributed and rely on no global information.Using the boundary layer technique,smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous functions.As a cost,under the designed smooth protocols,the defined matrix-scaled consensus error tends to a residual set rather than zero,in which the residual bound is arbitrary small by choosing proper parameters.Moreover,distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous communications.Simulation examples are provided to further verify the designed algorithms.展开更多
This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs.Specifically,we construct an adaptive event-based protocol that can be implemented in a fully distributed way ...This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs.Specifically,we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information.This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function.A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach,and the Zeno-behavior is excluded.Finally,two numerical examples are provided to illustrate the effectiveness of the theoretical results.展开更多
Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of mul...Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of multi-agent systems with switching topologies and input constraints based on distributed predictive control scheme.The consensus protocol is not only distributed but also depends on the errors of states between agent and its neighbors.We focus mainly on dealing with the input constraints and a distributed model predictive control scheme is developed to achieve stable consensus under the condition that both velocity and acceleration constraints are included simultaneously.The acceleration constraint is regarded as the changing rate of velocity based on some reasonable assumptions so as to simplify the analysis.Theoretical analysis shows that the constrained system steered by the proposed protocol achieves consensus asymptotically if the switching interaction graphs always have a spanning tree.Numerical examples are also provided to illustrate the validity of the algorithm.展开更多
This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varyin...This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.展开更多
Cooperative control of multi-agent systems(MASs),particularly consensus control,has gained significant attention in the last two decades,thanks to the rapid and sustained development of distributed and networked syste...Cooperative control of multi-agent systems(MASs),particularly consensus control,has gained significant attention in the last two decades,thanks to the rapid and sustained development of distributed and networked systems.In this paper,we present some new results focused on consensus control of a set of unknown linear MASs(whose system matrices are unknown)under unknown switched uncertainties,with an emphasis on distributed data-driven controllers.The proposed controller is end-to-end,designed by solving two data-based semi-definite programs(SDPs),which adjust to the changes of the uncertainty modes.Our approach achieves asymptotic consensus of the MAS provided that the switching is slow enough and the uncertainty is small.We illustrate the effectiveness of our proposed method through a numerical example.展开更多
Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distribut...Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.展开更多
This paper 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
Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under dir...Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.展开更多
This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and coll...An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.展开更多
基金supported in part by the National Key Research and Development Program of China under Grant 2022YFB3303900in part by the National Natural Science Foundation of China under Grants 62103277 and 62025305。
文摘In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–dual dynamics and the adaptive control technique,a distributed optimal formation controller consists of a velocity reference signal generator and a velocity tracking controller is proposed.By using the optimality condition,the relationship between the equilibrium point of the closed-loop system and the optimal solution of the optimization problem is established.Then,by utilizing Lyapunov stability analysis,it is rigorously proved that the optimal formation is reached with the proposed controller.Lastly,simulation examples are provided to substantiate the theoretical results.
文摘In this paper,a resilient distributed control scheme against replay attacks for multi-agent networked systems subject to input and state constraints is proposed.The methodological starting point relies on a smart use of predictive arguments with a twofold aim:1)Promptly detect malicious agent behaviors affecting normal system operations;2)Apply specific control actions,based on predictive ideas,for mitigating as much as possible undesirable domino effects resulting from adversary operations.Specifically,the multi-agent system is topologically described by a leader-follower digraph characterized by a unique leader and set-theoretic receding horizon control ideas are exploited to develop a distributed algorithm capable to instantaneously recognize the attacked agent.Finally,numerical simulations are carried out to show benefits and effectiveness of the proposed approach.
基金supported in part by the National Natural Science Foundation of China(61873056,61621004,61420106016)the Fundamental Research Funds for the Central Universities in China(N2004001,N2004002,N182608004)the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China(2013ZCX01)。
文摘This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.
基金supported by National Key R&D Program of China(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 distributed H∞control problem of identical linear time invariant multi-agent systems subject to external disturbances. A directed graph containing a spanning tree is used to model the communication topology. Based on the relative states of the neighbor agents and a subset of absolute states of the agents, distributed static H∞controllers are proposed. The concept of an H∞performance region is extended to the directed graph situation. Then the results are used to solve the leader–follower H∞consensus problem. Sufficient conditions are proposed based on bounded real lemma and algebraic graph theory. The effectiveness of the theoretical results is illustrated via 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.
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Supported by the National Natural Science Foundation of China(91016017)the National Aviation Found of China(20115868009)~~
文摘The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.
基金supported in part by the National Key Research and Development Program of China(No.2020AAA0108905)by the National Natural Science Foundation of China(Nos.62103302,62273262,62088101)+7 种基金by the Shanghai Sailing Program(No.21YF1450300)by the Shanghai Chenguang Program(No.22CGA19)by the Shanghai Municipal Science and Technology Major Project(No.2021SHZDZX0100)by the Shanghai Science and Technology Planning Project(Nos.21ZR1466400,22QA1408500)by the Shanghai Municipal Commission of Science and Technology Project(No.19511132101)by the Fundamental Research Funds for the Central Universities(No.2022-5-YB-05)by the Industry,Education and Research Innovation Foundation of Chinese University(Nos.2021ZYA02008,2021ZYA03004)by the Special Fund for Independent Innovation of Aero Engine Corporation of China(No.ZZCX-2021-007).
文摘Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering.This paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown disturbances.Distributed discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of disturbances.Adaptive protocols with time-varying gains obeying differential equations are also designed,which are completely distributed and rely on no global information.Using the boundary layer technique,smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous functions.As a cost,under the designed smooth protocols,the defined matrix-scaled consensus error tends to a residual set rather than zero,in which the residual bound is arbitrary small by choosing proper parameters.Moreover,distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous communications.Simulation examples are provided to further verify the designed algorithms.
基金National Natural Science Foundation of China(Nos.U22B2040 and 62233003)Fundamental Research Funds for the Central Universities(No.lzujbky-2022-kb12)。
文摘This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs.Specifically,we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information.This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function.A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach,and the Zeno-behavior is excluded.Finally,two numerical examples are provided to illustrate the effectiveness of the theoretical results.
基金This work was financially supported by the Major Program of National Natural Science Foundation of China[grant numbers is not public]the National Natural Science Foundation of China[Grant No.61703427].
文摘Consensus control of multi-agent systems has attracted compelling attentions from various scientific communities for its promising applications.This paper presents a discrete-time consensus protocol for a class of multi-agent systems with switching topologies and input constraints based on distributed predictive control scheme.The consensus protocol is not only distributed but also depends on the errors of states between agent and its neighbors.We focus mainly on dealing with the input constraints and a distributed model predictive control scheme is developed to achieve stable consensus under the condition that both velocity and acceleration constraints are included simultaneously.The acceleration constraint is regarded as the changing rate of velocity based on some reasonable assumptions so as to simplify the analysis.Theoretical analysis shows that the constrained system steered by the proposed protocol achieves consensus asymptotically if the switching interaction graphs always have a spanning tree.Numerical examples are also provided to illustrate the validity of the algorithm.
基金Project supported by the National Natural Science Foundation of China(Grant No.11701138)the Natural Science Foundation of Hebei Province,China(Grant Nos.F2017202009 and F2018202075)
文摘This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.
基金supported in part by the National Natural Science Foundation of China under Grants 61925303,62173034,62088101the China Scholarship Council under Grant 202206030127the BIT Research and Innovation Promoting Project under Grant 2022YCXZ007.
文摘Cooperative control of multi-agent systems(MASs),particularly consensus control,has gained significant attention in the last two decades,thanks to the rapid and sustained development of distributed and networked systems.In this paper,we present some new results focused on consensus control of a set of unknown linear MASs(whose system matrices are unknown)under unknown switched uncertainties,with an emphasis on distributed data-driven controllers.The proposed controller is end-to-end,designed by solving two data-based semi-definite programs(SDPs),which adjust to the changes of the uncertainty modes.Our approach achieves asymptotic consensus of the MAS provided that the switching is slow enough and the uncertainty is small.We illustrate the effectiveness of our proposed method through a numerical example.
基金supported in part by the National Natural Science Foundation of China under Grant 6237319in part by the Postgraduate Research and Practice Innovation Program of Jiangsu Province under Grant KYCX230479.
文摘Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.
基金supported 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supported by the National Natural Science Foundation of China(62073113,62003122,62303148)the Fundamental Research Funds for the Central Universities(MCCSE2023A01,JZ2023HGTA0201,JZ2023HGQA0109)the Anhui Provincial Natural Science Foundation(2308085QF204)
文摘Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
基金founded by the National Science and Technology Council of the Republic of China under contract NSTC113-2221-E-019-032.
文摘An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.
