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Finite-time Rotating Encirclement Control of Multi-agent Systems

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自动化学报 2017年第9期43卷 1665-1672页

作者： lipo mo Yongguang Yu School of Science Beijing Technology and Business University Beijing 100048 China Department of Mathematics Beijing Jiaotong University Beijing 100044 China

This paper deals with the finite-time distributed rotating encirclement control problem of multi-agent systems,where each agent tracks one target and every target can be tracked by one agent.Firstly,finite-time encirclement tracking protocols are designed for multi-agent systems,and these protocols contain observers for the geometrical center of the targets and estimators for the maximum distance between targets and their geometrical center.Secondly,sufficient conditions for achieving finite-time encirclement tracking are obtained.Finally,simulations are provided to demonstrate the effectiveness of the presented results.

关键词： Encirclement control estimator finite-time tracking multi-agent systems

Constrained Consensus of Continuous-Time Heterogeneous Multi-Agent Networks with Nonconvex Constraints and Delays

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Journal of Systems Science & Complexity 2022年第1期35卷 105-122页

作者： MO Lipo YU Yongguang REN Guojian YUAN Xiaolin School of Mathematics and Statistics Beijing Technology and Business UniversityBeijing 100048China Key Laboratory of Power Big Data of Guizhou Province Guizhou Institute of TechnologyGuiyang 550003China. Department of Mathematics Beijing Jiaotong UniversityBeijing 100044China

This paper studies the continuous-time constrained consensus of heterogeneous multi-agent networks with nonconvex input and velocity constraints,where each agent’s dynamic is modeled by a first-order or second-order integrator,the communication delays are assumed to be time-varying,nonuniform,bounded and the communication graph is changing over time.An improved distributed control algorithm with time-varying gains is proposed and the heterogeneous consensus is changed into the homogeneous consensus by a coordination transformation.Then,it is proved that the constrained consensus can be reached by analyzing six connection cases between agents if the joint graph has a directed spanning tree over each bounded interval.Finally,simulations are done to show the correctness of the theorem.

关键词： Consensus continuous-time heterogeneous networks nonconvex constraints time-delays

Consensus of Linear Multi-Agent Systems with Persistent Disturbances via Distributed Output Feedback

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Journal of Systems Science & Complexity 2019年第3期32卷 835-845页

作者： MO Lipo GUO Shaoyan School of Science Beijing Technology and Business University

This paper addresses the consensus problem of general linear multi-agent systems with persistent disturbances by distributed output feedback. Suppose that states of agents can not be obtained directly. Several estimators are designed to observe states of agents and the unknown disturbances. A protocol is proposed to drive all agents achieve consensus. Based on the method of model transforniation and the property of permutation matrix, sufficient conditions for consensus are obtained in terms of linear matrix inequalities. Finally, simulations are given to show the effectiveness of presented results.

关键词： Consensus distributed observer leaderless multi-agentsystems persistent disturbances

ROBUST STABILIZATION FOR MULTI-INPUT POLYTOPIC NONLINEAR SYSTEMS

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Journal of Systems Science & Complexity 2011年第1期24卷 93-104页

作者： lipo mo College of Computer and Information Engineering Beijing Technology and Business University Beijing 100048 China

这份报纸为多输入 polytopic 处理稳定的问题非线性的系统。基于柔韧的控制 Lyapunov 功能，为存在的一个足够的条件时间不变，连续， asymptotically 稳定州的反馈控制器被导出。如果，获得的足够的条件也是必要的，这被显示出如果在... 详细信息

这份报纸为多输入 polytopic 处理稳定的问题非线性的系统。基于柔韧的控制 Lyapunov 功能，为存在的一个足够的条件时间不变，连续， asymptotically 稳定州的反馈控制器被导出。如果，获得的足够的条件也是必要的，这被显示出如果在那里存在一个州的反馈控制器以便靠近环的系统让柔韧的 Lyapunov 为所有可能的无常工作。而且，为构造稳定控制器的一个通用公式被建议，相应 Lyapunov 功能的存在被证明。特别地， Lyapunov 功能为 polytopic 被构造在正规形式的非线性的系统。最后，建议控制法律的可行性被一个数字例子验证。

关键词：非线性系统鲁棒镇定控制Lyapunov函数多面体多输入状态反馈控制器充分条件稳定控制器

Finite-time disturbance attenuation of nonlinear systems

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Science in China(Series F) 2009年第11期52卷 2163-2171页

作者： MO Lipo JIA YingMin ZHENG ZhiMing Key Laboratory of Mathematics Informatics and Behavioral Semantics Ministry of Education Beihang University Beijing 100191 China The Seventh Research Division Beihang University Beijing 100191 China

This paper is devoted to the finite-time disturbance attenuation problem of affine nonlinear systems. Based on the finite time Lyapunov stability theory, some finite-time H∞ performance criterions are derived. Then the state-feedback control law is designed and the structure of such a controller is in- vestigated. Furthermore, it is shown that the H∞ controller can also make the closed-loop system satisfy finite-time H∞ performance for nonlinear homogeneous systems. An example is provided to demonstrate the effectiveness of the presented results.

关键词： finite-time disturbance attenuation nonlinear systems H∞ performance finite-time stability

Distributed Heterogeneous Multi-Agent Optimization with Stochastic Sub-Gradient

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Journal of Systems Science & Complexity 2024年第4期37卷 1470-1487页

作者： HU Haokun MO Lipo CAO Xianbing School of Mathematics and Statistics Central South University School of Mathematics and Statistics Beijing Technology and Business University Research Centre for Agri-Product Quality Traceability Beijing Technology and Business University School of Computer and Artificial Intelligence Beijing Technology and Business University China Food Flavor and Nutrition Health Innovation Center Beijing Technology and Business University

This paper studies the optimization problem of heterogeneous networks under a timevarying topology. Each agent only accesses to one local objective function, which is nonsmooth. An improved algorithm with noisy measurement of local objective functions’ sub-gradients and additive noises among information exchanging between each pair of agents is designed to minimize the sum of objective functions of all agents. To weaken the effect of these noises, two step sizes are introduced in the control protocol. By graph theory, stochastic analysis and martingale convergence theory, it is proved that if the sub-gradients are uniformly bounded, the sequence of digraphs is balanced and the union graph of all digraphs is joint strongly connected, then the designed control protocol can force all agents to find the global optimal point almost surely. At last, the authors give some numerical examples to verify the effectiveness of the stochastic sub-gradient algorithms.

关键词： Communication noises distributed stochastic optimization heterogeneous networks sub-gradient measurement noises

Improved Distributed Optimization Algorithm for Continuous Time Multi-agent Systems With Time-Varying Cost Function

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Improved Distributed Optimization Algorithm for Continuous T...

Distributed robust H∞ composite-rotating consensus of second order multi-agent systems

第40届中国控制会议

作者： Haokun Hu lipo mo School of Mathematics and Statistics Beijing Technology and Business University Key Laboratory of Power Big Data of Guizhou Province Guizhou Institute of Technology

This paper mainly discusses the improved distributed optimization problem for first-order multi-agent system with time-varying cost function. The goal of this paper is to make all agent’s states reach agreement in finite time and to minimize the global objective function. Each agent is individual and only corresponds to a gradient information. Firstly, we improve the existing distributed optimization algorithm with time-varying cost function. Secondly, by constructing some new Lyapunov functions and using the methods of convex analysis, sufficient conditions for all agents to reach consensus and to be derived to optimal solution are given, where the optimal solution is a trajectory that changes over time. Finally, Some numerical simulation examples are given to verify the effectiveness of the theoretical results.

关键词： Distributed optimization Finite-time consensus Time-varying cost function

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Distributed robust H∞ composite-rotating consensus of secon...

Consensus problems on networks with free protocol

第36届中国控制会议

作者： Weizheng Huang Wenfeng Zheng lipo mo School of Automation Engineering University of Electronic Science and Technology of China School of Science Beijing Technology and Business University

In this paper,the distributed H composite-rotating consensus problem is concerned for a class of second-order multi-agent systems.Firstly,based on local state feedback and communication feedback,a distributed control algorithm is proposed.Then,sufficient conditions are derived in order to make all agents reach a composite-rotating consensus with the desired H performance.Finally,the simulations are given to show the effectiveness of the theoretical results.

关键词： composite-rotating consensus robust H∞ control second-order dynamics

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Chinese Physics B 2021年第7期30卷 171-177页

作者：柳晓东莫立坡 School of Mathematics and Statistics Beijing Technology and Business UniversityBeijing 100048China Key Laboratory of Power Big Data of Guizhou Province Guizhou Institute of TechnologyGuiyang 550003China

In the real world,rule makers can only restrict,not completely control the behavior of the governed,while the governed can only choose their behavior patterns under these restrictions.In this paper,we design a new control protocol called free protocol to describe this situation.First,we calculate consensus probabilities based on the information of the interaction networks.Then,sufficient conditions are obtained for all agents converging to a same value with probability one.Finally,numerical simulation results are given to verify the above results.

关键词： multi-agent systems random protocol consensus with probability one