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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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Control Theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ago.Recently,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched systems.But this method involves some advanced concepts such as the weak zero-state detectability of some limiting system.In this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching networks.After converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely observable.Then,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus problem.Moreover,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

leader-following consensus of discrete-time fractional-order multi-agent systems

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Chinese Physics B 2018年第1期27卷 314-321页

作者： Erfan Shahamatkhah Mohammad Tabatabaei Department of Electrical Engineering Khomeinishahr Branch Islamic Azad University

leader-following consensus of fractional order multi-agent systems is investigated. The agents are considered as discrete-time fractional order integrators or fractional order double-integrators. Moreover, the interaction between the agents is described with an undirected communication graph with a fixed topology. It is shown that the leader-following consensus problem for the considered agents could be converted to the asymptotic stability analysis of a discrete-time fractional order system. Based on this idea, sufficient conditions to reach the leader-following consensus in terms of the controller parameters are extracted. This leads to an appropriate region in the controller parameters space. Numerical simulations are provided to show the performance of the proposed leader-following consensus approach.

关键词： multi-agent systems fractional order systems leader-following consensus discrete-time fractionalorder systems

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leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements

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Science China(Information Sciences) 2019年第10期62卷 117-132页

作者： Fuyong WANG Zhongxin LIU Zengqiang CHEN College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

This work studies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements. Through the filter-based method, a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusively based on the relative position measurements of neighboring agents. Under the common assumption that only relative position measurements between the neighboring agents are intermittently used, some consensus conditions are derived for second-order leader-following multi-agent systems with inherent delayed nonlinear dynamics. Moreover, for multi-agent systems without inherent delayed nonlinear dynamics, some simpler consensus conditions are presented. Finally, some simulation examples are presented to verify and illustrate the theoretical results.

关键词： leader-following consensus second-order multi-agent system delayed nonlinear dynamics distributed filter intermittent measurements

leader-following consensus of multi-agent systems with switching topologies and time-delays

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控制理论与应用（英文版） 2013年第2期11卷 306-310页

作者： Ling GUO Xiaohong NIAN Huan PAN School of Information Science and Engineering Central South University

This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases： i） for network with switching topologies and undirected information flow; ii） for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability the- ory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results.

关键词： leader-following consensus Multi-agent systems Switching topology Time-delays

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leader-following Secure consensus for Multi-Agent Systems with Nonlinear Dynamics under Denial-of-Service Attack

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Leader-following Secure Consensus for Multi-Agent Systems wi...

第32届中国过程控制会议(CPCC2021)

作者： Xiu You Junru Xu Xinchun Jia School of Mathematical Sciences Shanxi University School of Automation and Software Engineering Shanxi University

This article studies the leader-follower secure consensus for multi-agent systems(MASs) with complex nonlinear dynamics under Denial-of-Service(DoS) attack.Firstly,considering the DoS attack can block the information exchange between agents,a distributed intermittent controller is proposed.Secondly,by utilizing the dwell time analysis method,explicit analysis of the duration and the frequency of DoS attack are also presented such that MASs under DoS attack can still achieve consensus by the proposed controller.In addition,by constructing appropriate Lyapunov function and employing the inductive approach,the stability of cooperative error system is analyzed to derive the sufficient conditions to achieve cooperative tracking behaviors.Finally,numerical simulation is provided to illustrate the theoretical results.

关键词： Multi-agent Systems（MASs） Denial-of-Service（DoS） attack distributed intermittent control leader-following consensus

Privacy-preserving leader-following consensus with Continuous-time Dynamics

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Privacy-preserving Leader-following Consensus with Continuou...

第40届中国控制会议

作者： Haoran Li Hongyuan Xu Yuan-Hua Ni Feng Duan Zengqiang Chen College of Artificial Intelligence Nankai University Key Laboratory of Intelligent Robotics of Tianjin

leader-following consensus is an essential problem for tracking control. However, the state trajectories of agents may be exposed because of frequent exchange of information. Hence, this paper considers the secure leader-following consensus with continuous-time dynamics over directed fixed topologies. For each follower, introduce a virtual node that forms a directed node pair combining with the real node, i.e., the information can only transmit from virtual node to real node in a node pair. In this case, we design a control law utilizing neighboring information, and analyze convergence and privacy preservation of the leader-following multi-agent systems. Finally, a numerical simulation is provided to illustrate our results.

关键词： leader-following consensus privacy preservation continuous systems node-augment mechanism

leader-following consensus of Multiple Uncertain Euler-Lagrange Systems Subject to Unknown Disturbances over Switching Networks

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Leader-following Consensus of Multiple Uncertain Euler-Lagra...

第40届中国控制会议

作者： Tianqi Wang Jie Huang Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

In this paper, we study the leader-following consensus of uncertain multiple Euler-Lagrange systems subject to unknown disturbances over jointly connected communication networks. We employ an adaptive distributed observer to provide each follower an estimation of the reference trajectory over jointly connected switching networks, and apply the adaptive control technique to estimate both the uncertain parameters of the plant and the upper bound of the external disturbance. As a result, the approach of this paper can handle a large class of reference trajectories and any bounded disturbance with unknown upper bound.

关键词： leader-following consensus Euler-Lagrange systems Unknown disturbances

leader-following consensus of Singular Nonlinear Multi-Agent Systems with Unknown External Disturbances

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Leader-Following Consensus of Singular Nonlinear Multi-Agent...

第40届中国控制会议

作者： Tianya Liu Andong Sheng Guoqing Qi Yinya Li School of Automation Nanjing University of Science and Technology

This paper focuses on consensus control for singular multi-agent systems with unknown external disturbances. Each agent is modeled by nonlinear dynamics, and a leader-following system is considered. Then, to eliminate disturbance and achieve leader-following consensus of the studied system, an extended state observer-based distributed consensus protocol is proposed in this paper. By means of matrix analysis and Lyapunov theory, we establish sufficient conditions of leader-following consensus for singular nonlinear multi-agent systems. Finally, a numerical example is presented to show the feasibility of the proposed method.

关键词： Singular multi-agent systems leader-following consensus Nonlinear dynamics Unknown external disturbances Extended state observer

leader-following consensus for high-order multi-agent systems with heterogeneous topologies

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Leader-following consensus for high-order multi-agent system...

第37届中国控制会议

作者： Jinliang Shao Lei Shi Mengtao Cao School of Mathematical Sciences University of electronic science and technology

The leader-following consensus problem for high-order multi-agent systems with heterogeneous communication topologies is addressed in this paper. Here heterogeneous topologies mean that the different-order communication topologies among the agents are different. By proposing a novel protocol and exploring the product properties of infinite matrices, it is proved under some algebraic condition that the leader-following consensus can be achieved for any initial values if the leader is globally reachable in each communication topology. Finally a numerical example is given to demonstrate the reliability and effectiveness of our theoretical result.

关键词： Multi-agent systems leader-following consensus High-order dynamics Heterogeneous topologies