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Distributed event-triggered Formation control of USVs with Prescribed Performance

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Journal of Systems Science & Complexity 2022年第3期35卷 820-838页

作者： CHEN Guangdeng YAO Deyin ZHOU Qi LI Hongyi LU Renquan School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative control Guangdong University of TechnologyGuangzhou 510006China

In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed graph.Considering the risk of collision and the limited communication range of USVs,the prescribed performance control(PPC)methodology is employed to ensure collision avoidance and connectivity maintenance.An event-triggered mechanism is designed to reasonably use the limited communication resources.Moreover,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,respectively.Then,an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded(UUB).Finally,simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： event-triggered control formation control prescribed performance underactuated surface vessels(USVs)

Resilient observer-based event-triggered control for cyber-physical systems under asynchronous denial-of-service attacks

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Science China(Information Sciences) 2022年第4期65卷 182-196页

作者： Yifang ZHANG Zheng-Guang WU Zongze WU Deyuan MENG State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University School of Automation Guangdong University of Technology Seventh Research Division Beihang University (BUAA) School of Automation Science and Electrical Engineering Beihang University (BUAA)

We develop the resilient observer-based event-triggered control update strategy in this paper.It is utilized to achieve the input-to-state stability(ISS) of cyber-physical systems(CPSs) when there is an asynchronous denial-of-service(DoS) attack, which is launched by malicious adversaries both on measurement channel and control channel in a random attack strategy. To estimate the unmeasurable states while saving the limited networked bandwidth, an H∞observer-based event-triggered control scheme is first designed to guarantee the ISS of CPSs with economic communication. Moreover, the occurrence of Zeno behavior can be eliminated by providing the existence of a lower positive bound of any two inter-event times. Then, a recursive model of asynchronous DoS attacks is introduced. A resilient control update strategy is proposed and further analyzed to derive the stability criterion of CPSs. At last, a numerical simulation example is given to demonstrate the effectiveness of the introduced control update policy.

关键词： cyber-physical systems input-to-state stability asynchronous DoS attacks $H_\infty~$ observer event-triggered control

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

event-triggered control of Positive Semi-Markovian Jump Systems Without/with Input Saturation

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Journal of Shanghai Jiaotong university(Science) 2022年第5期27卷 723-736页

作者：张素焕张俊锋李烁余善恩 School of Automation Hangzhou Dianzi UniversityHangzhou310018China

This paper is concerned with the event-triggered control of positive semi-Markovian jump systems without/with input saturation.The considered systems are subject to a stochastic semi-Markovian process whose sojourn time is dependent on a non-exponential distribution.First,an event-triggering condition is introduced in a linear form for the systems.A class of event-triggered feedback controllers is proposed using matrix decomposition technique.By using a stochastic co-positive Lyapunov function,the systems’positivity and stability are guaranteed.Then,the obtained results are developed for the systems with input saturation.A cone set is chosen as the attraction domain and the corresponding attraction domain gain matrix is designed in terms of standard linear programming approach.Finally,two numerical examples are provided to verify the validity and effectiveness of the presented theoretical findings.

关键词： event-triggered control positive semi-Markovian jump systems input saturation matrix decomposition linear programming

Stabilization of logical control networks:an event-triggered control approach

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Science China(Information Sciences) 2020年第1期63卷 167-177页

作者： Shiyong ZHU Yang LIU Yijun LOU Jinde CAO Jiangsu Provincial Key Laboratory of Networked Collective Intelligence School of Mathematics Southeast University College of Mathematics and Computer Science Zhejiang Normal University Department of Applied Mathematics Hong Kong Polytechnic University

This paper investigates the global stabilization problem of k-valued logical control networks(KVLCNs) via event-triggered control(ETC), where the control inputs only work at several certain individual states. Compared with traditional state feedback control, the designed ETC approach not only shortens the transient period of logical networks but also decreases the number of controller executions. The content of this paper is divided into two parts. In the first part, a necessary and sufficient criterion is derived for the event-triggered stabilization of KVLCNs, and a construction procedure is developed to design all timeoptimal event-triggered stabilizers. In the second part, the switching-cost-optimal event-triggered stabilizer is designed to minimize the number of controller executions. A labeled digraph is obtained based on the dynamic of the overall system. Utilizing this digraph, we formulate a universal and unified procedure called the minimal spanning in-tree algorithm to minimize the triggering event set. Furthermore, we illustrate the effectiveness of obtained results through several numerical examples.

关键词： logical control network event-triggered control stabilization semi-tensor product minimal spanning in-tree

Adaptive event-triggered control for a class of nonlinear systems with periodic disturbances

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Science China(Information Sciences) 2020年第5期63卷 161-175页

作者： Hui MA Hongyi LI Renquan LU Tingwen HUANG School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative control Guangdong University of Technology Science Program Texas A&M University at Qatar

This paper investigates the adaptive event-triggered control problem for a class of nonlinear systems subject to periodic disturbances. To reduce the communication burden, a reliable relative threshold strategy is proposed. Fourier series expansion and radial basis function neural network are combined into a function approximator to model suitable time-varying disturbed function of known periods in strict-feedback systems. By combining the Lyapunov stability theory and the backstepping technique, the proposed adaptive control approach ensures that all the signals in the closed-loop system are bounded, and the tracking error can be regulated to a compact set around zero in finite time. Finally, simulation results are presented to verify the effectiveness of the theoretical results.

关键词： nonlinear systems event-triggered control periodic disturbances Fourier series expansion finite time

Distributed event-triggered adaptive control for second-order nonlinear uncertain multi-agent systems

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Chinese Journal of Aeronautics 2021年第10期34卷 237-247页

作者： Ming XIAO Zhitao LIU Hongye SU The State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.

关键词： Adaptive distributed control structure event-triggered control Multi-agent systems Second-order nonlinear models

Variable-sampling-period dependent global stabilization of delayed memristive neural networks based on refined switching event-triggered control

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Science China(Information Sciences) 2020年第11期63卷 159-174页

作者： Zhilian YAN Xia HUANG Jinde CAO College of Electrical Engineering and Automation Shandong University of Science and Technology School of Mathematics Southeast University

This paper studies the stabilization problem of delayed memristive neural networks under eventtriggered control. A refined switching event-trigger scheme that switches between variable sampling and continuous event-trigger can be designed by introducing an exponential decay term into the threshold function. Compared with the existing mechanisms, the proposed scheme can enlarge the interval between two successively triggered events and therefore can reduce the amount of triggering times. By constructing a time-dependent and piecewise-defined Lyapunov functional, a less-conservative criterion can be derived to ensure global stability of the closed-loop system. Based on matrix decomposition, equivalent conditions in linear matrix inequalities form of the above stability criterion can be established for the co-design of both the trigger matrix and the feedback gain. A numerical example is provided to demonstrate the effectiveness of the theoretical analysis and the advantages of the refined switching event-trigger scheme.

关键词： event-triggered control delayed memristive neural networks global stabilization time-dependent Lyapunov functional variable sampling

Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies

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Chinese Physics B 2018年第4期27卷 228-235页

作者：王金环许玉玲张建杨德东 School of Science Hebei Provincial Key Laboratory of Big Data CalculationHebei University of Technology School of control Science and Engineering Hebei University of Technology

This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.

关键词： multi-agent systems time-varying formation switching topologies event-triggered control