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第30届中国控制与决策会议

作者： Nannan Li Hongbin Ma Xinghong Zhang School of Automation Beijing Institute of Technology

In this paper, a distributed adaptive control method is considered for a class of discrete-time multi-agent systems with nonlinearity and uncertainty. Each agent is affected by its neighbors, and there is a hidden agent as the leader in multi-agent systems who knows the desired reference signal. However, other agents are aware of neither the reference signal nor the existence of the hidden leader and leadership. In order to deal with uncertainty, a criteria function for each agent, which is consist of a weighted square combination of state errors and parameter errors with timevarying weighting factor, is adopted. By minimizing the criteria function, we propose a projection algorithm for each agent to estimate unknown parameters. Furthermore, we design a distributed adaptive controller for each agent using the information of its neighbors. Under the distributed adaptive control, the rigorous mathematical proof is presented to demonstrate that all the agents ultimately track the desired reference signal. Finally, simulation results are given to illustrate the theoretical results.

关键词： distributed adaptive control Projection Algorithm Nonlinear and Uncertain dynamics Discrete Time

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Recent advances in distributed adaptive consensus control of uncertain nonlinear multi-agent systems

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Journal of control and Decision 2020年第1期7卷 44-63页

作者： Wei Wang Jiang Long Changyun Wen Jiangshuai Huang School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191People’s Republic of China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang UniversityBeijing 100191People’s Republic of China School of Electrical and Electronic Engineering Nanyang Technological UniversitySingaporeSingapore School of Automation Chongqing UniversityChongqingPeople’s Republic of China

So far,distributed adaptive consensus problems for uncertain nonlinear multi-agent systems have not yet been extensively *** with centralised adaptive control,some new challenges need to be well addressed,for examples,(i)how to reach asymptotically consensus tracking with directed topology condition,by using totally distributed adaptive control strategies;(ii)how to ensure globally uniform boundedness of closed-loop systems while achieving leaderless consensus with semi-positive definite Laplacian matrix;(iii)how to maintain system performance while effectively reducing the communication burden among connected *** paper is mainly devoted to report some recent advances in distributed adaptive consensus ***,some interesting research topics which are worthy of further investigation will also be discussed.

关键词： distributed adaptive control consensus nonlinear multi-agent systems uncertainties

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distributed adaptive Formation control of Heterogeneous Multi-agent Systems with Unknown System Parameters

Distributed Adaptive Formation Control of Heterogeneous Mult...

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第43届中国控制会议

作者： Xingjian Long Kunrui Ze Wei Wang Jiang Long School of Automation Science and Electrical Engineering Beihang University School of Computer Science Northwestern Polytechnical University

In this paper, we consider the leaderless formation control problem for heterogeneous multi-agent systems(MASs)consisting of unmanned aerial vehicles(UAVs) and unmanned ground vehicles(UGVs) with unknown system parameters. In order to solve the problem caused by nonidentical subsystem orders, a new distributed reference system is introduced in each agent, in which only the relative positions of the agents are involved. Then, a backstepping-based distributed adaptive control is proposed under directed graph condition. With the proposed control scheme, the boundedness of all the signals in the closedloop system can be ensured and the positions of heterogeneous MASs can converge to a desired formation. Finally, experimental results are provided to demonstrate the effectiveness of the proposed control scheme.

关键词： distributed adaptive control multiple unmanned aerial vehicles(UAVs) unmanned ground vehicles(UGVs) formation control

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distributed adaptive sliding mode control for nonlinear heterogeneous multi-agent systems with unknown disturbances 36

Distributed adaptive sliding mode control for nonlinear hete...

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第36届中国控制会议

作者： ZHANG Xiang WANG Jinhuan WANG Jie YANG Dedong School of Sciences Hebei province key laboratory of big data calculationHebei University of Technology School of control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781538629185

In this paper,the consensus for a class of nonlinear heterogeneous multi-agent systems（MAS） subject to unknown external disturbances is ***,the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the ***,a novel distributed adaptive control laws is designed by means of linear sliding mode（LSM）.One can prove that the tracking consensus can be realized asymptotically under LSM in spite of uncertainties and ***,a numerical example demonstrates the performance and feasibility of the given protocols.

关键词： multi-agent systems tracking consensus distributed adaptive control sliding mode

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distributed adaptive finite-time formation control of multiple UAV helicopter system

Distributed adaptive finite-time formation control of multip...

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第37届中国控制会议

作者： Dandan Wang Qun Zong Boyuan Zhang School of Electrical Engineering and Automation Tianjin University

This paper investigates distributed finite-time formation control（FFDFC） with local information change for multiple unmanned aerial vehicle（UAV） helicopter system with disturbances. The UAV helicopter system is composed by position outerloop and attitude inner-loop. We introduce an adaptive finite-time formation controller that takes into account motions of the information states. Unlike the existing distributed protocols, we show that the finite-time convergence properties is proved by Lyapunov theory. Moreover, the control algorithm removes the global information that needs to be known by each follower in advance in many references. Simulation results are presented to demonstrate the efficiency of the designed strategy.

关键词： Formation control Finite-time control distributed adaptive control UAV helicopters

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Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control

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Chinese Physics B 2017年第7期26卷 39-48页

作者：张翔王金环杨德东徐勇 School of Sciences Hebei Province Key Laboratory of Big Data Calculation Hebei University of Technology School of control Science and Engineering Hebei University of Technology

We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems（MAS）with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode（LSM） as well as nonsingular terminal sliding mode（NTSM）, respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.

关键词： multi-agent systems tracking consensus distributed adaptive control sliding mode

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distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader

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Science China(Technological Sciences) 2014年第5期57卷 905-913页

作者： ZHOU Jin WU XingJie LIU ZengRong Shanghai Institute of Applied Mathematics and Mechanics Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University School of Mathematics and Statistics Hefei Normal University Institute of System Biology Shanghai University

distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable *** this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic *** provide an analysis procedure for the controlled synchronization of such systems with uncertain *** also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated *** with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning ***,we present a simulation example to verify the effectiveness of the proposed algorithms.

关键词： networked Lagrange system redundant robot distributed adaptive control tracking synchronization algorithm

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