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Science China(Technological Sciences) 2024年第1期67卷 209-220页

作者： ZHU GuoLiang LIU KeXin GU HaiBo LÜJinHu School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Zhongguancun Laboratory Beijing 100094China

This paper investigates the consensus-based formation control problem for multi-agent systems with unknown nonlinear dynamics.To achieve the desired formation,we propose two formation controllers to achieve the desired formation,one based on system states and the other on system outputs.The proposed controllers utilize adaptive gains to avoid global information and neural networks to estimate and compensate for nonlinearities.The proposed event-triggered schemes avoid continuous communication among agents and exclude the Zeno behavior.Stability analysis reveals that formation errors are bounded,and numerical simulations are used to validate the effectiveness of the proposed approaches.

关键词： formation control neural network adaptive control event-triggered communication multi-agent systems

Consensus control for heterogeneous uncertain multi-agent systems with hybrid nonlinear dynamics via iterative learning algorithm

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Science China(Technological Sciences) 2023年第10期66卷 2897-2906页

作者： XIE Jin CHEN JiaXi LI JunMin CHEN WeiSheng ZHANG Shuai School of Mathematics and Statistics Xidian UniversityXi’an 710071China School of Aerospace Science and Technology Xidian UniversityXi’an 710071China Science and Technology on Antennas and Microwave Laboratory Xidian UniversityXi’an 710071China

In this study,We propose a compensated distributed adaptive learning algorithm for heterogeneous multi-agent systems with repetitive motion,where the leader's dynamics are unknown,and the controlled system's parameters are uncertain.The multiagent systems are considered a kind of hybrid order nonlinear systems,which relaxes the strict requirement that all agents are of the same order in some existing work.For theoretical analyses,we design a composite energy function with virtual gain parameters to reduce the restriction that the controller gain depends on global information.Considering the stability of the controller,we introduce a smooth continuous function to improve the piecewise controller to avoid possible chattering.Theoretical analyses prove the convergence of the presented algorithm,and simulation experiments verify the effectiveness of the algorithm.

关键词： multi-agent systems adaptive iterative learning control hybrid nonlinear dynamics composite energy function consensus algorithm

Towards resilient average consensus in multi-agent systems:a detection and compensation approach

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 182-196页

作者： Chongrong FANG Wenzhe ZHENG Zhiyu HE Jianping HE Chengcheng ZHAO Jingpei WANG Department of Automation Shanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou310027China Technology and Engineering Center for Space Utilization Chinese Academy of SciencesBeijing100094China

Consensus is one of the fundamental distributed control technologies for collaboration in multi-agent systems such as collaborative handling in intelligent manufacturing.In this paper,we study the problem of resilient average consensus for multi-agent systems with misbehaving nodes.To protect consensus value from being influenced by misbehaving nodes,we address this problem by detecting misbehaviors,mitigating the corresponding adverse impact,and achieving the resilient average consensus.General types of misbehaviors are considered,including attacks,accidental faults,and link failures.We characterize the adverse impact of misbehaving nodes in a distributed manner via two-hop communication information and develop a deterministic detection compensation based consensus(D-DCC)algorithm with a decaying fault-tolerant error bound.Considering scenarios wherein information sets are intermittently available due to link failures,a stochastic extension named stochastic detection compensation based consensus(S-DCC)algorithm is proposed.We prove that D-DCC and S-DCC allow nodes to asymptotically achieve resilient accurate average consensus and unbiased resilient average consensus in a statistical sense,respectively.Then,the Wasserstein distance is introduced to analyze the accuracy of S-DCC.Finally,extensive simulations are conducted to verify the effectiveness of the proposed algorithms.

关键词： Resilient consensus multi-agent systems Malicious attacks Detection Compensation

Data-driven cooperative output regulation of multi-agent systems under distributed denial of service attacks

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Science China(Information Sciences) 2023年第9期66卷 5-20页

作者： Weinan GAO Zhong-Ping JIANG State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Department of Electrical and Computer Engineering Tandon School of Engineering New York University

This paper addresses an optimal, cooperative output regulation problem for multi-agent systems with distributed denial of service attacks and unknown system dynamics. Unlike existing studies, the proposed solution is essentially a learning-based control strategy such that one can obtain a distributed control policy with internal models through online data and analyze the resilience of closed-loop systems, both without the precise knowledge of system dynamics in the state-space model. The efficiency of the proposed methodology is validated using computer simulations.

关键词： cooperative output regulation adaptive dynamic programming learning-based control multi-agent systems cybersecurity

Optimal synchronization control formulti-agent systems with input saturation:a nonzero-sum game

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Frontiers of Information Technology & Electronic Engineering 2022年第7期23卷 1010-1019页

作者： Hongyang LI Qinglai WEI School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China The State Key Laboratory for Management and Control of Complex systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Institute of systems Engineering Macao University of Science and TechnologyMacao 999078China

This paper presents a novel optimal synchronization control method for multi-agent systems with input saturation.The multi-agent game theory is introduced to transform the optimal synchronization control problem into a multi-agent nonzero-sum game.Then,the Nash equilibrium can be achieved by solving the coupled Hamilton–Jacobi–Bellman(HJB)equations with nonquadratic input energy terms.A novel off-policy reinforcement learning method is presented to obtain the Nash equilibrium solution without the system models,and the critic neural networks(NNs)and actor NNs are introduced to implement the presented method.Theoretical analysis is provided,which shows that the iterative control laws converge to the Nash equilibrium.Simulation results show the good performance of the presented method.

关键词： Optimal synchronization control multi-agent systems Nonzero-sum game Adaptive dynamic programming Input saturation Off-policy reinforcement learning Policy iteration

Robust Consensus Tracking Control of Uncertain multi-agent systems With Local Disturbance Rejection

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 427-438页

作者： Pan Yu Kang-Zhi Liu Xudong Liu Xiaoli Li Min Wu Jinhua She the Faculty of Information Technology and the Beijing Institute of Artificial Intelligence Beijing University of TechnologyBeijing 100124China IEEE the Department of Electrical and Electronic Engineering Chiba UniversityChiba 263-8522Japan the Beijing Aerospace Automatic Control Institute Beijing 100854China the School of Automation China University of GeosciencesWuhan 430074China the School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan

In this paper,a new distributed consensus tracking protocol incorporating local disturbance rejection is devised for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph.It is of two-degree-of-freedom nature.Specifically,a robust distributed controller is designed for consensus tracking,while a local disturbance estimator is designed for each agent without requiring the input channel information of disturbances.The condition for asymptotic disturbance rejection is derived.Moreover,even when the disturbance model is not exactly known,the developed method also provides good disturbance-rejection performance.Then,a robust stabilization condition with less conservativeness is derived for the whole multi-agent system.Further,a design algorithm is given.Finally,comparisons with the conventional one-degree-of-freedombased distributed disturbance-rejection method for mismatched disturbances and the distributed extended-state observer for matched disturbances validate the developed method.

关键词： Directed graph distributed control disturbance rejection dynamic uncertainties multi-agent systems robust control

Quantized Formation Control of Heterogeneous Nonlinear multi-agent systems with Switching Topology

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Journal of systems Science & Complexity 2023年第6期36卷 2382-2397页

作者： LIU Ying HU Jun LI Yongming Navigation College Dalian Maritime UniversityDalian116026China Neusoft Reachauto Corporation Shenyang110179China College of Science Liaoning University of TechnologyJinzhou121001China

This paper studies the formation control problem for the second-order heterogeneous nonlinear multi-agent systems(MASs)with switching topology and quantized control inputs.Compared with formation control under the fixed topology,under the switching topology inherent nonlinear dynamics of the agent and the connectivity change of the communication topology are considered.Moreover,to avoid the chattering phenomenon caused by unknown input disturbances,the hysteretic quantizers are incorporated to quantize the input signals.By using the Lyapunov stability theory and leader-follower formation approach,the proposed formation control scheme ensures that all signals of the MASs are semi-globally uniformly ultimately bounded(SGUUB).Finally,the efficiency of the theoretical results is proved by a simulation example.

关键词： Formation control heterogeneous multi-agent systems quantized control inputs switching topology

Finite-time coordinated path-following control of leader-following multi-agent systems

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Frontiers of Information Technology & Electronic Engineering 2022年第10期23卷 1511-1521页

作者： Weibin CHEN Yangyang CHEN Ya ZHANG School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China Robot Department Jiangsu Automation Research InstituteLianyungang 222061China

This paper presents applications of the continuous feedback method to achieve path-following and a formation moving along the desired orbits within a finite time.It is assumed that the topology for the virtual leader and followers is directed.An additional condition of the so-called barrier function is designed to make all agents move within a limited area.A novel continuous finite-time path-following control law is first designed based on the barrier function and backstepping.Then a novel continuous finite-time formation algorithm is designed by regarding the path-following errors as disturbances.The settling-time properties of the resulting system are studied in detail and simulations are presented to validate the proposed strategies.

关键词： Finite-time Coordinated path-following multi-agent systems Barrier function

Bipartite asynchronous impulsive tracking consensus for multi-agent systems

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Frontiers of Information Technology & Electronic Engineering 2022年第10期23卷 1522-1532页

作者： Lingzhong ZHANG Yuanyuan LI Jungang LOU Jianquan LU School of Electrical Engineering and Automation Changshu Institute of TechnologyChangshu 215500China Department of Applied Mathematics Nanjing Forestry UniversityNanjing 210037China School of Information Engineering Huzhou UniversityHuzhou 313000China School of Mathematics Southeast UniversityNanjing 210096China

In this study,we discuss how multi-agent systems(MASs)with a leader can achieve distributed bipartite tracking consensus using asynchronous impulsive control strategies.The proposed asynchronous impulsive control approach does not require the impulse to occur simultaneously for all agents.The communication links between neighboring nodes of MASs are antagonistic.When the leader’s control input is non-zero,sufficient conditions are obtained to achieve bipartite asynchronous impulsive tracking consensus in closed-loop MASs.More extensive ranges of asynchronous impulsive effects are discussed,and the designed controller’s feedback can effectively work against adverse impulsive permutation.Simple algebraic conditions for estimating the impulsive gain boundary and asynchronous impulsive interval are presented.Theoretical results are demonstrated with illustrative examples.

关键词： Bipartite tracking multi-agent systems Asynchronous impulsive Consensus

Observer-Based Intra-Cluster Lag Consensus of multi-agent systems via Intermittent Adaptive Pinning Control

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系统科学与复杂性学报:英文版 2023年第5期36卷 1809-1829页

作者： ZHANG Yunlong WEN Guoguang RAHMANI Ahmed PENG Zhaoxia WEN Shiping CRIStAL UMR CNRS 9189Centrale LilleVilleneuve d'Ascq 59651France Department of Mathematics Beijing Jiaotong UniversityBeijing 100044China School of Transportation Science and Engineering Beihang UniversityBeijing 100191China Centre for Artificial Intelligence(CAI) University of Technology SydneyAustralia

The intra-cluster lag consensus means that the agents in the same cluster can achieve lag consensus asymptotically while the agents in different clusters can achieve different consensus.In this paper,the authors investigate the observer-based intra-cluster lag consensus problems of multi-agent systems(MASs)with general linear dynamics and nonlinear dynamics via intermittent adaptive pinning control.The interaction network is considered to be weakly connected,i.e.,it is not necessary to be strongly connected,in-degree balanced or contain a directed spanning tree.To realise the intra-cluster lag consensus,a class of observers is designed to estimate the states of followers.Then a class of observer-based intermittent adaptive pinning control protocols is proposed according to the difference that the agents receive information source.Moreover,the pinning gains are designed to be intermittent adaptive and have an exponential convergence rate,which will effectively reduce communication costs,avoid the pinning gains being larger than those needed in real applications and guarantee the pinning gains quickly converge to steady value.Correspondingly,some sufficient consensus criteria are derived and rigorous proofs are given based on matrix theory and Lyapunov stability theory.Finally,the effectiveness for the proposed intermittent adaptive pinning control strategy is validated by a numerical simulation.

关键词： Lag consensus multi-agent systems intermittent adaptive pinning control state observer