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Consensus problem of second-order multi-agent systems with time-varying communication delay and switching topology

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Journal of Systems Engineering and Electronics 2011年第4期22卷 672-678页

作者： Chenglin Liu Fei Liu Institute of Automation Jiangnan University Wuxi 214122 E R. China

Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.

关键词： second-order multi-agent system time-varyingcommunication delay switching topology Lyapunov-Krasovskii,Lyapunov-Razumikhin.

Controllability analysis of multi-agent systems with switching topology over finite fields

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Science China(Information Sciences) 2019年第1期62卷 80-94页

作者： Zehuan LU Lin ZHANG Long WANG School of Automation Science and Electrical Engineering Beihang University Center for Systems and Control College of Engineering Peking University

In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second,we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph.

关键词： multi-agent systems leader-follower structure controllability finite fields switching topology

Consensus tracking protocol and formation control of multi-agent systems with switching topology

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Journal of Central South University 2011年第4期18卷 1178-1183页

作者：年晓红苏赛军潘欢 School of Information Science and Engineering Central South University

Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.

关键词： multi-agent system consensus protocols formation control switching topology

Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays

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控制理论与应用（英文版） 2010年第1期8卷 52-60页

作者： Fangcui JIANG,Long WANG,Guangming XIE(Institute of Intelligent Engineering,Center for Systems and Control,College of Engineering,and Key Laboratory of Machine Perception(Ministry of Education),Peking University,Beijing 100871,China) Institute of Intelligent Engineering Center for Systems and Control College of Engineering and Key Laboratory of Machine Perception (Ministry of Education) Peking University Beijing China

This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.

关键词： Consensus problems Distributed control Multi-agent systems switching topology Time-varying delays Lyapunov-Krasovskii approach

Target surrounding control of second-order multi-agent systems with switching topology 36

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Target surrounding control of second-order multi-agent syste...

第36届中国控制会议

作者： Zonggang Li Si Chen Yajiang Du School of Mechatronic Engineering Lanzhou Jiaotong University

ISBN: (纸本)9781538629185

This paper considers the target surrounding control problem of second-order multi-agent systems with linear dynamics and switching *** our scheme,all agents finally converge to a circle around the target and then move along ***,a distributed protocol is given for each agent to estimate the position of static *** is shown that the estimation of each agent eventually converges to the target as the information topology contains a jointly spanning tree by employing the properties of row-stochastic matrix and non-negative ***,another distributed protocol is given for each agent moves around the target in a given *** important,all agents reach consensus on angular velocity and move uniformly distributed in this ***,a numerical example is *** results of simulation illustrate the validity of the proposed method.

关键词： Surrounding control Second-order Linear multi-agent systems switching topology

Output Group Consensus for Heterogeneous Linear Multi-Agent Systems Communicating over switching topology 36

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Output Group Consensus for Heterogeneous Linear Multi-Agent ...

第36届中国控制会议

作者： Jiahu Qin Qichao Ma Wei Xing Zheng Department of Automation University of Science and Technology of China School of Computing Engineering and MathematicsWestern Sydney University

ISBN: (纸本)9781538629185

In this paper,we aim to investigate the output group consensus problem for a switching network of heterogeneous linear systems such that outputs of the agents synchronize with each other in every *** the internal model principle perspective,a necessary condition is first derived in terms of the system *** this necessary condition,a dynamic controller is then designed to solve the output group consensus problem in two steps,namely consensus of reference generators and output tracking for each *** is obtained that if every possible underlying topology of each cluster contains a directed spanning tree,then group consensus for the reference generators can be realized with sufficiently strong intra-cluster coupling *** appropriate controller is then designed to force the output of each agent to track the output of the reference generators.A simulation example is given at last to validate our theoretical findings.

关键词： Output group consensus switching topology heterogeneous systems internal model principle

Dynamic Consensus of Third-Order Networked Multi-agent Systems with switching topology

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Dynamic Consensus of Third-Order Networked Multi-agent Syste...

第三十九届中国控制会议

作者： Chang-Jiang Li Xin-Rong Yang Jun Zhao School of Electronics and Information Jiangsu University of Science and Technology School of Mathematical Science Heilongjiang University Sichuan University of Engineering

In this paper, consensus for the third-order integrator type networked multi-agent system with switching topology is studied, which does not require the speed nor acceleration to be synchronized to zero. By a variable transformation and based on scrambling matrix theory, sufficient conditions for the third-order integrator type networked multi-agent system to reach consensus are derived. Numerical example are provided to illustrate the effectiveness of the theoretic results.

关键词： networked multi-agent system third order consensus switching topology

Consensus of multi-agent nonlinear dynamic systems under slow switching topology

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Consensus of multi-agent nonlinear dynamic systems under slo...

第26届中国控制与决策会议

作者： Junwei Wang Kairui Chen Yun Zhang School of Informatics Guangdong University of Foreign Studies Faculty of Automation Guangdong University of Technology

This paper is devoted to the consensus problem of multi-agent systems with inherent nonlinear *** reflect the practical environment of multi-agent systems, the communication topology is assumed to switch slowly within a finite set of directed topologies restricted by an average dwell time switching signal. By taking advantage of tools from switched systems and piecewise Lyapunov functions, it is shown that consensus can be guaranteed for the choice of suitable parameters if each topology contains a directed spanning tree. Explicit analytical conditions on both feedback gain and average dwell time of admissible switching signals for consensus are also offered. Finally, an example with computer simulation is provided to illustrate the theoretical results.

关键词： Multi-agent system consensus switching topology average dwell time directed spanning tree

Dynamic Consensus of Third-Order Delayed Networked Multi-agent Systems with switching topology

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Dynamic Consensus of Third-Order Delayed Networked Multi-age...

第40届中国控制会议

作者： Chang-Jiang Li Xin-Xin Cao Jiao-Mei Mo Yun-Fei Lou Shang-Yu Yu School of Electronics and Information Jiangsu University of Science and Technology School of Electronics and Information Jiangsu University of Science of Technology

This paper investigates consensus for the third-order integrator networked multi-agent system with switching topology and input delay, which does not require the speed nor acceleration to be synchronized to zero. By variable transformations and based on scrambling matrix theory, sufficient conditions for the third-order integrator type networked multi-agent system to reach consensus are derived. Numerical examples are provided to illustrate the effectiveness of the theoretic results.

关键词： Networked multi-agent system third order consensus delay switching topology