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Observer-based adaptive consensus control for nonlinear multi-agent systems with time-delay

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Science China(Information Sciences) 2020年第3期63卷 195-211页

作者： Wenbin XIAO Liang CAO Hongyi LI Renquan LU School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control Guangdong University of Technology

In this paper, we consider the observer-based adaptive consensus tracking problem for a class of nonlinear time-delay multi-agent systems in the presence of input saturation. Under the assumption that the communication topology is directed and connected, a distributed adaptive consensus controller is developed based on the dynamic surface control technique. By constructing the nonlinear observer, the unmeasurable agents dynamics can be estimated. Input saturation problem is solved by a smooth function combined with an auxiliary variable. With the help of prescribed performance functions, the synchronization errors converge to the prescribed sets, which are characterized as a neighborhood of zero. According to Lyapunov stability theory, it is shown that with the proposed distributed consensus tracking approach, the consensus errors are cooperatively semi-globally uniformly ultimately bounded. Finally, a simulation example is provided to show the effectiveness of the proposed algorithm.

关键词： adaptive consensus control multi-agent systems prescribed performance time-delay unmeasurable states

State-dependent event-triggered control of multi-agent systems

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Chinese Physics B 2014年第11期23卷 215-222页

作者：齐斌崔宝同楼旭阳 Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Jiangnan University Wuxi Institute of Technology

Event-triggered control has been recent/y proposed as an effective strategy for the consensus of multi-agent systems. We present an improved distributed event-triggered control scheme that remedies a shortcoming of some previous event- triggered control schemes in the literature. This improved distributed event-triggered method has no need for continuously monitoring each agent＇ neighbors. Moreover, each agent in the multi-agent systems will not exhibit the Zeno behavior. Numerical simulation results show the effectiveness of the proposed consensus control.

关键词： distributed event-triggered control consensus rendezvous multi-agent systems

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

Fast consensus seeking for multi-agent systems

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Journal of systems Engineering and Electronics 2011年第3期22卷 534-539页

作者： Yingying She Huajing Fang Department of Control Science and Engineering Huazhong University of Science and TechnologyWuhan 430074P.R.China

For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.To study fast consensus seeking problems of multi-agent systems in undirected networks,a consensus protocol is proposed which considers the average information of the agents＇ states in a certain time interval,and a consensus convergence criterion for the system is obtained.Based on the frequency-domain analysis and algebra graph theory,it is shown that if the time interval is chosen properly,then requiring the same maximum control effort the proposed protocol reaches consensus faster than the standard consensus protocol.Simulations are provided to demonstrate the effectiveness of these theoretical results.

关键词： multi-agent systems consensus cooperative control convergence rate.

Containment control for heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes

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Frontiers of Information Technology & Electronic Engineering 2021年第1期22卷 107-119页

作者： Ya-ni SUN Wen-cheng ZOU Jian GUO Zheng-rong XIANG School of Automation Nanjing University of Science and TechnologyNanjing 210094China

We study the contain men t cont rol problem for high-order het erogeneous nonlinear multi-age nt systems under distributed event-triggered schemes.To achieve the containment control objective and reduce communication consumption among agents,a distributed event-triggered control scheme is proposed by applying the backstepping method,Lyapunov functional approach,and neural networks.Then,the results are extended to the self-triggered control case to avoid continuous monitoring of state errors.The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error.In addition,no agent exhibits Zeno behavior.Two numerical simulations are finally presen ted to verify the correctness of the obtained results.

关键词： multi-agent systems Distributed event-triggered control Containment control Heterogeneous nonlinear systems Zeno behavior

Consensus for second-order multi-agent systems with position sampled data

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Chinese Physics B 2016年第10期25卷 13-23页

作者：王如生高利新陈文海戴大蒙 Institute of Intelligent systems and Decision Wenzhou University College of Physics & Electronic Information Engineering Wenzhou University

In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.

关键词： multi-agent systems distributed control consensus observer sampled data

Output regulation for linear multi-agent systems with unmeasurable nodes

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Chinese Physics B 2014年第1期23卷 539-545页

作者：梁洪晶张化光王占山王军义 College of Information Science and Engineering Northeastern University Shenyang 110819 China

The output regulation of linear multi-agent systems with partial unmeasurable agents is investigated in this paper. All the agents except the exosystem can be classified into two groups. agents in the first group can be measured by themselves and their neighbors. State variables are not fully accessible for direct communication and full order Luenberger observers are constructed for the unmeasurable agents. We give a state feedback control law to solve the output regulation problem under the communication topologies based on both measurable and unmeasurable agents. The heterogeneous agents' synchronization problem is a general case of our results. Finally, examples are utilized to show the effectiveness of the obtained results.

关键词： multi-agent systems output regulation full order observers

Consensus in nonlinear multi-agent systems with nonidentical nodes and sampled-data control

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Science China(Information Sciences) 2018年第12期61卷 141-154页

作者： Zhengxin WANG Jingbo FAN Guo-Ping JIANG Jinde CAO Min XIAO Ahmed ALSAEDI School of Science Nanjing University of Posts and Telecommunications School of Automation Nanjing University of Posts and Telecommunications Department of Mathematics Faculty of Science King Abdulaziz University Research Center for Complex systems and Network Sciences School of MathematicsSoutheast University

This paper primarily discusses the leader-following consensus problem in nonlinear second-order multi-agent systems with nonidentical nodes. Sampled-data-based protocols are applied to reach consensus.Both delay-free and input-delay protocols are proposed. Based on the Lyapunov functional approach and linear matrix inequality(LMI) method, sufficient criteria are obtained to guarantee quasi-consensus for nonlinear heterogeneous multi-agent systems. All the heterogeneous followers can track the leader within a bounded range. Furthermore, the error systems between the leader and each follower eventually converge to a convergence domain that depends on the heterogeneity among the dynamics of the agents. Additionally,leader-following consensus can also be reached as the heterogeneity vanishes. Finally, numerical simulations are provided to illustrate the theoretical results.

关键词： heterogeneous systems multi-agent systems quasi-consensus leader-following consensus sampled-data control

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