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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 806-816页

作者： Shuyi Xiao Jiuxiang Dong the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the State Key Laboratory of Synthetical Automation for Process Industries Northeastern UniversityShenyang 110819 the Key Laboratory of Vibration and Control of AeroPropulsion Systems Ministry of Education Northeastern UniversityShenyang 110819China

This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network *** proposed control framework which is independent on the global information about the communication topology consists of two *** 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 *** 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 ***,simulation results are given to demonstrate the effectiveness of the proposed control protocol.

关键词： Adaptive fault-tolerant control directed network topology distributed control hierarchical control multi-agent systems(MASs)

Event-Triggered Formation Control for Multi-Wheeled Mobile Robot Systems under A Chained directed network topology

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Event-Triggered Formation Control for Multi-Wheeled Mobile R...

Distributed Containment Control of networked Nonlinear Second-order Systems With Unknown Parameters

第43届中国控制会议

作者： Qi Zhu Jinwei Yu Jun-Jun Liu Xiaohong Zhang College of Mathematics Taiyuan University of Technology

This paper focuses on the formation tracking control of multiple nonholonomic wheeled mobile robot *** order to optimize communication resources,a distributed communication manner combined with a static event-triggered mechanism has been introduced under a special chained directed network topology based on the mobile robot kinematic *** each mobile robot only needs to communicate with its neighbours at some event time instants,this can reduce the controller sampling *** the Zeno behaviors are ***,the theoretical result is verified by the simulation experiments.

关键词： Event-triggered nonholonomic mobile robot system formation control directed network topology

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 232-239页

作者： Long Ma Haibo Min Shicheng Wang Yuan Liu Zhiguo Liu Unit 96630 of PLA Beijing 102206 China High-tech Institute of Xi'an Xi'an 710025 China

In this paper, we study the containment control problem for nonlinear second-order systems with unknown parameters and multiple stationary/dynamic leaders. The topologies that characterize the interaction among the leaders and the followers are directed graphs. Necessary and sufficient criteria which guarantee the control objectives are established for both stationary leaders(regulation case) and dynamic leaders(dynamic tracking case) based protocols. The final states of all the followers are exclusively determined by the initial values of the leaders and the topology structures. In the regulation case, all the followers converge into the convex hull spanned by the leaders,while in the dynamic tracking case, not only the positions of the followers converge into the convex hull but also the velocities of the followers converge into the velocity convex hull of the ***, all the theoretical results are illustrated by numerical simulations.

关键词： Containment control directed network topology multi-agent systems nonlinear second-order systems

Theory and Experiments on Enclosing Control of Multi-Agent Systems

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IEEE/CAA Journal of Automatica Sinica 2021年第10期8卷 1677-1685页

作者： Yihui Wang Yanfei Liu Zhong Wang High-Tech Institute of Xi’an Xi’an 710025China

This paper proposes a control strategy called enclosing *** strategy can be described as follows:the followers design their control inputs based on the state information of neighbor agents and move to specified *** convex hull formed by these followers contains the *** use the single-integrator model to describe the dynamics of the agents and proposes a continuous-time control protocol and a sampled-data based protocol for multi-agent systems with stationary leaders with fixed network *** the state differential equations are analyzed to obtain the parameter requirements for the system to achieve ***,the conditions achieving enclosing control are established for both protocols.A special enclosing control with no leader located on the convex hull boundary under the protocols is studied,which can effectively prevent enclosing control failures caused by errors in the ***,several simulations are proposed to validate theoretical results and compare the differences between the three control ***,experimental results on the multi-robot platform are provided to verify the feasibility of the protocol in the physical system.

关键词： Cooperative control directed network topology enclosing control leader-following multi-agent systems

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