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 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
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 studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating t...This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating the adaptive control technique and the adaptive distributed observer method. The design procedure is illustrated by an example with a group of Van der Pol oscillators as the followers and a harmonic system as the leader.展开更多
In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs ...In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.展开更多
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
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
For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the prop...For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent system.By constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is required.The stability analysis has proved that all signals of the closed-loop are semi-globally uniformly bounded.The Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.展开更多
In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a...In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.展开更多
This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order ...This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.展开更多
This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all fo...This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all followers are subjected to multi-type input constraints such as unknown asymmetric saturation,unknown dead-zone and their integration.A unified representation is presented to overcome the difficulties originating from multi-agent input constraints.Moreover,the uncertain system functions in a non-lower triangular form and the interaction terms among agents are dealt with by exploiting the fuzzy logic systems and their special property.Furthermore,by introducing a nonlinear filter to alleviate the problem of“explosion of complexity”during the backstepping design,a distributed common adaptive control protocol is proposed to ensure that the synchronization errors converge to a small neighborhood of the origin despite the existence of multiple input constraints and arbitrary switching communication topologies.Both stability analysis and simulation results are conducted to show the effectiveness and performance of the proposed control methodology.展开更多
To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.Firs...To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.展开更多
To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties a...To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.展开更多
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
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
In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance ...In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance within a fixed time,a fixed-time prescribed performance function(FTPPF)is introduced.The control design is achieved via an identifier-actor-critic framework that approximates the solution to the Hamilton-Jacobi-Bellman equation.Unknown system dynamics are compensated by fuzzy logic systems,and a rounding quantizer processes the signal of the leader to reduce the communication costs.The proposed method ensures all consensus errors converge with prescribed performance bounds in a fixed time.Simulation results validate the theoretical findings.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
Multi-Agent Systems(MAS),which consist of multiple interacting agents,are crucial in Cyber-Physical Systems(CPS),because they improve system adaptability,efficiency,and robustness through parallel processing and colla...Multi-Agent Systems(MAS),which consist of multiple interacting agents,are crucial in Cyber-Physical Systems(CPS),because they improve system adaptability,efficiency,and robustness through parallel processing and collaboration.However,most existing unsupervised meta-learning methods are centralized and not suitable for multi-agent systems where data are distributed stored and inaccessible to all agents.Meta-GMVAE,based on Variational Autoencoder(VAE)and set-level variational inference,represents a sophisticated unsupervised meta-learning model that improves generative performance by efficiently learning data representations across various tasks,increasing adaptability and reducing sample requirements.Inspired by these advancements,we propose a novel Distributed Unsupervised Meta-Learning(DUML)framework based on Meta-GMVAE and a fusion strategy.Furthermore,we present a DUML algorithm based on Gaussian Mixture Model(DUMLGMM),where the parameters of the Gaussian-mixture are solved by an Expectation-Maximization algorithm.Simulations on Omniglot and Mini Image Net datasets show that DUMLGMM can achieve the performance of the corresponding centralized algorithm and outperform non-cooperative algorithm.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the National Natural Science Foundation of China(Nos.61973189,62073190)the Research Fund for the Taishan Scholar Project of Shandong Province of China(No.ts20190905)the Natural Science Foundation of Shandong Province of China(No.ZR2020ZD25).
文摘In this paper,the leader–follower consensus of feedforward nonlinear multi-agent systems is achieved by designing the distributed output feedback controllers with a time-varying gain.The agents dynamics are assumed to be in upper triangular structure and satisfy Lipschitz conditions with an unknown constant multiplied by a time-varying function.A time-varying gain,which increases monotonously and tends to infinity,is proposed to construct a compensator for each follower agent.Based on a directed communication topology,the distributed output feedback controller with a time-varying gain is designed for each follower agent by only using the output information of the follower and its neighbors.It is proved by the Lyapunov theorem that the leader–follower consensus of the multi-agent system is achieved by the proposed consensus protocol.The effectiveness of the proposed time-varying gain method is demonstrated by a circuit system.
基金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.
文摘This paper studies the leader-following consensus problem for a class of second-order nonlinear multi-agent systems subject to linearly parameterized uncertainty and disturbance. The problem is solved by integrating the adaptive control technique and the adaptive distributed observer method. The design procedure is illustrated by an example with a group of Van der Pol oscillators as the followers and a harmonic system as the leader.
文摘In this paper, we study the leader-following rendezvous and flocking problems for a class of second-order nonlinear multi- agent systems, which contain both external disturbances and plant uncertainties. What differs our problems from the conventional leader-following consensus problem is that we need to preserve the connectivity of the communication graph instead of assuming the connectivity of the communication graph. By integrating the adaptive control technique, the distributed observer method and the potential function method, the two problems are both solved. Finally, we apply our results to a group of van der Pol oscillators.
基金supported 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 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the National Natural Science Foundation of China(61673101,61973131,61733006,U1813201)the Science and Technology Project of Jilin Province(20210509053RQ)the Fourteenth Five Year Science Research Plan of Jilin Province(JJKH20220115KJ)。
文摘For a class of high-order nonlinear multi-agent systems with input hysteresis,an adaptive consensus output-feedback quantized control scheme with full state constraints is investigated.The major properties of the proposed control scheme are:1)According to the different hysteresis input characteristics of each agent in the multi-agent system,a hysteresis quantization inverse compensator is designed to eliminate the influence of hysteresis characteristics on the system while ensuring that the quantized signal maintains the desired value.2)A barrier Lyapunov function is introduced for the first time in the hysteretic multi-agent system.By constructing state constraint control strategy for the hysteretic multi-agent system,it ensures that all the states of the system are always maintained within a predetermined range.3)The designed adaptive consensus output-feedback quantization control scheme allows the hysteretic system to have unknown parameters and unknown disturbance,and ensures that the input signal transmitted between agents is the quantization value,and the introduced quantizer is implemented under the condition that only its sector bound property is required.The stability analysis has proved that all signals of the closed-loop are semi-globally uniformly bounded.The Star Sim hardware-in-the-loop simulation certificates the effectiveness of the proposed adaptive quantized control scheme.
基金supported in part by the National Natural Science Foundation of China(U1804147,61833001,61873139,61573129)the Innovative Scientists and Technicians Team of Henan Polytechnic University(T2019-2)the Innovative Scientists and Technicians Team of Henan Provincial High Education(20IRTSTHN019)。
文摘In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.
基金supported by the National Natural Science Foundation of China(6137510561403334)
文摘This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.
基金supported by the Chinese National Natural Science Foundation(No.71871135)the Fundamental Research Funds for the Central Universities(Nos.222201714055,222201717006).
文摘This study concentrates on solving the output consensus problem for a class of heterogeneous uncertain nonstrict-feedback nonlinear multi-agent systems under switching-directed communication topologies,in which all followers are subjected to multi-type input constraints such as unknown asymmetric saturation,unknown dead-zone and their integration.A unified representation is presented to overcome the difficulties originating from multi-agent input constraints.Moreover,the uncertain system functions in a non-lower triangular form and the interaction terms among agents are dealt with by exploiting the fuzzy logic systems and their special property.Furthermore,by introducing a nonlinear filter to alleviate the problem of“explosion of complexity”during the backstepping design,a distributed common adaptive control protocol is proposed to ensure that the synchronization errors converge to a small neighborhood of the origin despite the existence of multiple input constraints and arbitrary switching communication topologies.Both stability analysis and simulation results are conducted to show the effectiveness and performance of the proposed control methodology.
基金National Natural Science Foundation of China(No.62073296)Natural Science Foundation of Zhejiang Province,China(No.LZ23F030010)Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province,China Jiliang University(No.ZNZZSZ-CJLU2022-03)Rights and permissions。
文摘To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.
基金National Natural Science Foundation of China(No.61963029)Jiangxi Provincial Natural Science Foundation(Nos.20224BAB202027 and 20232ACB202007)。
文摘To solve the synchronization and tracking problems,a cooperative control scheme is proposed for a class of higher-order multi-input and multi-output(MIMO)nonlinear multi-agent systems(MASs)subjected to uncertainties and external disturbances.First,coupled relationships among Laplace matrix,leader-following adjacency matrix and consensus error are analyzed based on undirected graph.Furthermore,nonlinear disturbance observers(NDOs)are designed to estimate compounded disturbances in MASs,and a distributed cooperative anti-disturbance control protocol is proposed for high-order MIMO nonlinear MASs based on the outputs of NDOs and dynamic surface control approach.Finally,the feasibility and effectiveness of the proposed scheme are proven based on Lyapunov stability theory and simulation experiments.
基金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.
基金supported by the National Natural Science Foundation of China(No.62322307)the Sichuan Science and Technology Program(No.2023NSFSC1968).
文摘In this paper,a fixed-time optimized control scheme with prescribed performance is presented for bipartite consensus of nonlinear multi-agent systems(MASs).To enforce predefined transient and steady-state performance within a fixed time,a fixed-time prescribed performance function(FTPPF)is introduced.The control design is achieved via an identifier-actor-critic framework that approximates the solution to the Hamilton-Jacobi-Bellman equation.Unknown system dynamics are compensated by fuzzy logic systems,and a rounding quantizer processes the signal of the leader to reduce the communication costs.The proposed method ensures all consensus errors converge with prescribed performance bounds in a fixed time.Simulation results validate the theoretical findings.
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supported by the National Natural Science Foundation of China Youth Fund(No.62101579)。
文摘Multi-Agent Systems(MAS),which consist of multiple interacting agents,are crucial in Cyber-Physical Systems(CPS),because they improve system adaptability,efficiency,and robustness through parallel processing and collaboration.However,most existing unsupervised meta-learning methods are centralized and not suitable for multi-agent systems where data are distributed stored and inaccessible to all agents.Meta-GMVAE,based on Variational Autoencoder(VAE)and set-level variational inference,represents a sophisticated unsupervised meta-learning model that improves generative performance by efficiently learning data representations across various tasks,increasing adaptability and reducing sample requirements.Inspired by these advancements,we propose a novel Distributed Unsupervised Meta-Learning(DUML)framework based on Meta-GMVAE and a fusion strategy.Furthermore,we present a DUML algorithm based on Gaussian Mixture Model(DUMLGMM),where the parameters of the Gaussian-mixture are solved by an Expectation-Maximization algorithm.Simulations on Omniglot and Mini Image Net datasets show that DUMLGMM can achieve the performance of the corresponding centralized algorithm and outperform non-cooperative algorithm.
