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Finite-time and fixed-time consensus problems for second-order multi-agent systems with reduced state information

Science China(Information Sciences) 2019年第11期62卷 95-105页

作者： Huifen HONG He WANG Zhenling WANG Wenwu YU School of Mathematics Southeast University Institute of Complexity Science Qingdao University

This paper studies the fixed-time consensus(Fix TC) and connectivity-preserving finite-time consensus(Fin TC) protocol designs for second-order multi-agent systems using output information only.Herein, a distributed Fix TC protocol based on the Lyapunov stability and bi-limit homogeneity approaches is proposed with the aid of an auxiliary system. Then, when the graph is state-dependent, i.e., the agents have limited sensing and communication ranges, a connectivity-preserving Fin TC is proposed by designing a mechanism suitable for this purpose. Theoretical analysis and several simulations are presented to verify the effectiveness of the proposed protocols.

关键词： MASs finite-time consensus fixed-time consensus connectivity-preserving mechanism reduced state information

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fixed-time consensus of second-order leader-following multi-agent systems with inherent nonlinear dynamics

Fixed-time consensus of second-order leader-following multi-...

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第37届中国控制会议

作者： Kewei Qian Ronghao Wang School of Automation Nanjing University of Science and Technology National Defense Engineering College Army Engineering University

This paper studies fixed-time consensus of second-order leader-following multi-agent systems with inherent nonlinear dynamics. Firstly, a new fixed-time consensus protocol is designed to solve the tracking problem of the second-order nonlinear systems. By using Lyapunov theory and graph theory, we choose a different Lyapunov function candidate to verify the theoretical results. Then we consider the second-order multi-agent systems with multiple leaders and propose a new protocol to solve the fixed-time containment control problem. Finally, two numerical examples are proposed to demonstrate the effectiveness of the proposed fixed-time protocols.

关键词： fixed-time consensus Second-order multi-agent systems Leader-following consensus Containment control Nonlinear systems

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fixed-time consensus Tracking Control of High-order Multi-agent Systems under Directed Graph

Fixed-time Consensus Tracking Control of High-order Multi-ag...

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第37届中国控制会议

作者： Jiahua Dai Gang Chen College of Automation Chongqing University

In this paper, the fixed-time consensus tracking problem is studied for a class of high-order multi-agent systems under directed graph. Firstly, the fixed-time terminal sliding mode surface is introduced such that if the sliding mode surface is reached,the fixed-time convergence of the local neighborhood errors can be guaranteed. Then, the virtual control law is proposed by using dynamic surface control technique at each step, and the actual control law is designed at the last step. According to the fixed-time stability theory, it is proved that the fixed-time tracking consensus will be achieved by applying the proposed approach. Finally,a simulation is conducted to clarify the effectiveness of the proposed control strategy.

关键词： fixed-time consensus Dynamic surface control Multi-agent systems

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fixed-time Output Feedback consensus for Multi-agent Systems with Input Saturation and Uncertain Disturbance

Fixed-Time Output Feedback Consensus for Multi-agent Systems...

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第40届中国控制会议

作者： Xiang Ma Keren Dai Qingyu Li Hang Yu Xiaofeng Wang He Zhang ZNDY of National Defense Key Laboratory School of Mechanical EngineeringNanjing University of Science and Technology North Information Control Research Academy Group Company. Ltd. School of Mechatronical Engineering Beijing Institute of Technology

This paper investigates the anti-saturation fixed-time output feedback consensus problem for second-order multiagent with uncertainty disturbance. First, a distrbutrd extend state fixed time observer is designed based on the idea of extended state and fixed-time convergence. Then, by combing fixed-time control technique and bi-limit homogeneous systems theory, a novel distributed fixed-time consensus controllers with input saturation are developed for leaderless multi-agent systems. This algorithm can effectively compensate the system’s uncertain disturbance without velocity measurement. At the same time, the proposed algorithm achieve fixed-time consensus with input saturation. A numerical simulation example is include to show the efficacy and the performance of the proposed algorithm.

关键词： Multiagent system fixed-time consensus bi-limit homogeneity input saturation disturbance estimation output feedpack

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fixed-time consensus tracking for multiple coupled harmonic oscillators

Fixed-time consensus tracking for multiple coupled harmonic ...

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第36届中国控制会议

作者： Guang-Ren Duan Weishun Sui Maorui Zhang State Key Laboratory of Robotics and System（HIT）

ISBN: (纸本)9781538629185

This paper investigates the distributed fixed-time consensus tracking problem for multiple coupled harmonic oscillators under the directed topology.By adopting fast terminal sliding-mode strategies,the new distributed consensus protocols are proposed for each harmonic oscillator agent.This achieves fixed-time consensus tracking,in which the bound of settling time are independent of initial conditions.Finally,simulation examples are provided to demonstrate the performance of our theoretical results.

关键词： fixed-time consensus Fast terminal sliding-mode Multi-agent system

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A Novel Obstacle Avoidance consensus Control for Multi-AUV Formation System

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1304-1318页

作者： Linling Wang Daqi Zhu Wen Pang Chaomin Luo the Shanghai Engineering Research Center of Intelligent Maritime Search&Rescue and Underwater Vehicles Shanghai Maritime UniversityShanghai 201306China the Shanghai Maritime University Shanghai 201306China the School of Mechanical Engineering University of Shanghai for Science and TechnologyShanghai 200093China the Department of Electrical and Computer Engineering Mississippi State UniversityMississippi StateMS 39762 USA

In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.

关键词： Autonomous underwater vehicle(AUV) event-triggered control fixed-time consensus formation obstacle avoidance improved artificial potential field and leader-follower strategy(IAPF-LF)

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