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IEEE/CAA Journal of Automatica Sinica 2023年第6期10卷 1421-1433页

作者： Haihua Guo Min Meng Gang Feng the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Control Science and Engineering College of Electronics and Information Engineeringand Shanghai Research Institute of Intelligent Autonomous SystemsTongji UniversityShanghai 200092China

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.

关键词： heterogeneous multi-agent systems Lyapunov method Markovian switching topologies output containment control time delays

Mean-Square Output Consensus of heterogeneous multi-agent systems with multiplicative Noises in Dynamics and Measurements

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Journal of systems Science & Complexity 2023年第6期36卷 2364-2381页

作者： LIN Bo LUO Shixian JIANG Yan Guangxi Key Laboratory of Disaster Prevention and Engineering Safety Guangxi UniversityNanning530004China School of Electrical Engineering Guangxi UniversityNanning530004China

This paper studies the output consensus problem of heterogeneous linear stochastic multiagent systems with multiplicative noises in system parameters and measurements,where the system noise in each agent is allowed to be different.By employing stochastic output regulation theory and the stochastic Lyapunov function approach,a composite controller embedded with stochastic output regulator equations(SOREs)and a stochastic dynamic compensator is designed to achieve the meansquare output consensus of the multi-agent systems.To implement the consensus algorithm,a sufficient condition for feasible solutions of the SOREs is first established in terms of Lyapunov and Selvester equations.Then the time-varying SOREs are approximated by the Euler-Maruyama method combined with an a-posteriori partial estimation of the increments of the Brownian motion.A numerical example illustrates the theoretical results.

关键词： heterogeneous multi-agent systems multiplicative noise output consensus stochastic output regulation

Distributed Event-Triggered Tracking Control of heterogeneous Discrete-Time multi-agent systems with Unknown Parameters

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Journal of systems Science & Complexity 2022年第4期35卷 1330-1347页

作者： YANG Ruohan ZHOU Deyun School of Electronics and Information Northwestern Polytechnical UniversityXi’an710072China

In this paper,a novel design framework is developed to solve the cooperative tracking problem of heterogeneous discrete-time multi-agent systems with unknown agent parameters and directed communication topologies.First,a distributed event-triggered observer is developed to handle the heterogeneity of the multi-agent systems.An event-triggering mechanism is proposed to reduce the amount of data transmission between neighboring agents.Then,based on the proposed observer,a discrete-time distributed model reference adaptive controller is presented to deal with the unknown parameters of the multi-agent systems.It is shown that by using the proposed observer and the model reference adaptive controller,the proposed design framework could achieve output tracking of the unknown multi-agent systems for any communication graph containing a directed spanning tree.Finally,an example is presented to illustrate the effectiveness of the proposed controller.

关键词： Adaptive control cooperative control distributed control event-triggered control heterogeneous multi-agent systems

Semi-global weighted output average tracking of discrete-time heterogeneous multi-agent systems subject to input saturation and external disturbances

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Control Theory and Technology 2023年第3期21卷 315-333页

作者： Qilin Song Yuanlong Li Yijing Xie Zongli Lin Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Department of Electrical Engineering University of Texas at ArlingtonArlington 76019TXUSA Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesville 22904-4743VAUSA

In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.

关键词： Distributed average tracking Input saturation Low gain feedback heterogeneous multi-agent systems Output regulation

Distributed Adaptive Output Consensus of Unknown heterogeneous Non-Minimum Phase multi-agent systems

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自动化学报：英文版 2023年第4期10卷 997-1008页

作者： Wenji Cao Lu Liu Gang Feng Department of Biomedical Engineering City University of Hong KongHong Kong SARChina

This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.

关键词： Adaptive pole placement control heterogeneous multi-agent systems leader-following output consensus non-minimum phase

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

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Chinese Physics B 2011年第4期20卷 551-557页

作者：闫敬关新平罗小元 Institute of Electrical Engineering Yanshan University

This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason＇s rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.

关键词： heterogeneous multi-agent systems pursuit consensus leader-follower

Consensus of heterogeneous multi-agent systems based on sampled data with a small sampling delay

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Chinese Physics B 2014年第10期23卷 617-625页

作者：王娜吴治海彭力 Key Laboratory for Advanced Process Control of Light Industry of the Ministry of Education School of Internet of Things Engineering Jiangnan University

In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.

关键词： heterogeneous multi-agent systems consensus sampled-data small sampling delay

Consensus for heterogeneous multi-agent systems with Directed Network Topologies

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Journal of systems Science and Information 2017年第4期8卷 376-384页

作者： Meiling ZHU Yong XU Rui ZHAO School of Science Hebei University of TechnologyTianjin 300401China

In this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, this consensus problem is turned into a consensus problem for homogeneous multi-agent systems. With certain assumption on the control parameters, firstly, necessary and sufficient condition for consensus is proposed with fixed topology. Secondly, sufficient condition is proposed for heterogeneous multi-agent systems to achieve consensus with switching topologies. Finally, simulation examples are presented to verify the effectiveness of the theoretical results.

关键词： consensus heterogeneous multi-agent systems directed network topology

Scale-free Protocol Design for H∞ Almost Output and Regulated Output Synchronization of heterogeneous multi-agent systems

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Scale-free Protocol Design for H∞ Almost Output and Regulat...

Leader-following consensus control for complex heterogeneous multi-agent systems without velocity measurements

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作者： Donya Nojavanzadeh Zhenwei Liu Ali Saberi Anton A.Stoorvogel School of Electrical Engineering and Computer Science Washington State University College of Information Science and Engineering Northeastern University Department of Electrical Engineering Mathematics and Computer ScienceUniversity of Twente

This paper studies scale-free protocol design for H∞ almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible and introspective agents in presence of external disturbances. The collaborative linear dynamic protocol designs are based on localized information exchange over the same communication network,which do not require any knowledge of the directed network topology and spectrum of the associated Laplacian matrix. Moreover,the proposed scale-free protocols achieve H∞ almost synchronization with a given arbitrary degree of accuracy for any size of the network.

关键词： heterogeneous multi-agent systems H∞ almost synchronization Scale-free collaborative protocols

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Leader-following consensus control for complex heterogeneous...