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Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

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Journal of Automation and Intelligence

Journal of Automation and Intelligence 2024年第2期3卷 119-127页

作者： Yangyang Qian Lu Liu Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaCharlottesvilleVA 22904USA Department of Biomedical Engineering City University of Hong KongKowloonHong Kong999077China

This paper investigates the robust cooperative output regulation problem for a class of heterogeneousuncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizingthe internal model approach and the adaptive control technique, a distributed adaptive internal model isconstructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed ofa distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggeringmechanism is proposed, in which each agent updates its control input at its own triggering time instants. It isshown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solvedwithout requiring either the global information associated with the communication topology or the bounds ofthe uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided toillustrate the effectiveness of the proposed control strategy.

关键词： Adaptive control Event-triggered control Internal model Multi-agent systems output regulation

Distributed Robust Containment Control of Linear Heterogeneous Multi-Agent Systems:An output regulation Approach

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IEEE/CAA Journal of Automatica Sinica 2022年第5期9卷 864-877页

作者： Wenchao Huang Hailin Liu Jie Huang College of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108China College of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 School of Automation Sicience and Engineering South China University of TechnologyGuangzhou 510641China IEEE

In this paper,we consider the robust output containment problem of linear heterogeneous multi-agent systems under fixed directed networks.A distributed dynamic observer based on the leaders’measurable output was designed to estimate a convex combination of the leaders’states.First,for the case of followers with identical state dimensions,distributed dynamic state and output feedback control laws were designed based on the state-coupled item and the internal model compensator to drive the uncertain followers into the leaders’convex hull within the output regulation framework.Subsequently,we extended theoretical results to the case where followers have nonidentical state dimensions.By establishing virtual errors between the dynamic observer and followers,a new distributed dynamic output feedback control law was constructed using only the states of the compensator to solve the robust output containment problem.Finally,two numerical simulations verified the effectiveness of the designed schemes.

关键词： Containment control internal model principle multi-agent systems observer technique output regulation

Periodic event-triggered secure consensus for networked mechanical systems under Denial-of-Service attacks

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Control Theory and Technology 2024年第1期22卷 1-13页

作者： Shiqi Zheng Zhipeng Li Chao Zhai Peng Shi School of Automation China University of GeosciencesWuhan430074HubeiChina School of Electrical and Electronic Engineering The University of AdelaideAdelaideSA5005Australia School of Electronic Electrical Engineering and PhysicsFujian University of TechnologyFuzhou350100FujianChina

This paper concentrates on the secure consensus problem of networked mechanical/Euler–Lagrange systems.First,a new periodic event-triggered(PET)secure distributed observer is proposed to estimate the leader information.The proposed distributed observer only relies on the PET data from its neighbors,which can significantly reduce the communication and computational burden.More importantly,it is secure in the sense that it can work normally regardless of the Denial-of-Service(DoS)attacks.Second,based on the proposed distributed observer,an adaptive fuzzy control law is proposed for each Euler–Lagrange system.A PET mechanism is integrated into the controller,which can reduce the control update.This is helpful for both energy saving and fault tolerance of actuators.Moreover,the PET mechanism naturally makes the controller easy to be implemented in digital platform.The property of fuzzy logic systems and Gronwall inequality are skillfully utilized to show the stability of the closed-loop system.Finally,the proposed control scheme is verified on real Euler–Lagrange systems,which contain a robot manipulator and several servo motors.

关键词： output regulation Mechanical/Euler-Lagrange systems Periodic event-triggered mechanism Denial-of-Service attacks

Self-Triggered Set Stabilization of Boolean Control Networks and Its Applications

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1631-1642页

作者： Rong Zhao Jun-e Feng Dawei Zhang the School of Mathematics Shandong UniversityShandong UniversityJinan 250100China

Set stabilization is one of the essential problems in engineering systems, and self-triggered control(STC) can save the storage space for interactive information, and can be successfully applied in networked control systems with limited communication resources. In this study, the set stabilization problem and STC design of Boolean control networks are investigated via the semi-tensor product technique. On the one hand, the largest control invariant subset is calculated in terms of the strongly connected components of the state transition graph, by which a graph-theoretical condition for set stabilization is derived. On the other hand, a characteristic function is exploited to determine the triggering mechanism and feasible controls. Based on this, the minimum-time and minimum-triggering open-loop, state-feedback and output-feedback STCs for set stabilization are designed,respectively. As classic applications of self-triggered set stabilization, self-triggered synchronization, self-triggered output tracking and self-triggered output regulation are discussed as well. Additionally, several practical examples are given to illustrate the effectiveness of theoretical results.

关键词： Boolean control networks(BCNs) output regulation self-triggered control semi-tensor product of matrices set stabilization synchronization

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

output regulation problem for discrete-time linear time-delay systems by output feedback control

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Control Theory and Technology 2016年第1期14卷 49-56页

作者： Yamin YAN Jie HUANG Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Shatin Hong Kong.

In this paper, we study the output regulation problem of discrete linear time-delay systems by output feedback control. We have established some results parallel to those for the output regulation problem of continuou... 详细信息

关键词： output regulation discrete linear systems time-delay

output regulation OF THE GENERAL NONLINEARDISCRETE-TIME SYSTEM

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Applied Mathematics and Mechanics(English Edition) 1999年第2期20卷 200-204页

作者：李铁成王照林李俊峰 Department of Applied Mathematics Tsinghua University Beijing P R China Department of Engineering Mechanics Tsinghua University Beijing P R China

With the use of centre manifold and dynamic system theory, the necessary and sufficient conditions are obtained for the solvabilities of the output regulator problems for the general nonlinear discrete-time system. This work generalizes and refines the corresponding results by Isidori and Byrnes on the affine nonlinear continuous-time 'system.

关键词： discrete-time system output regulation centre manifold exponential stability omega-limit set

output regulation of nonaffine nonlinear systems using singular perturbation theory

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控制理论与应用（英文版） 2009年第2期7卷 181-184页

作者： Bo MENG Yuanwei JING, Xiaoping LIU College of Information Science and Engineering Northeastern University Shenyang Liaoning 110004 China

A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to ＂fast＂ dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with （ε） tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.

关键词： output regulation Singular perturbation Nonaffine nonlinear system Dynamic inversion

output regulation for a class of uncertain nonlinear systems with nonlinear exosystems and its application

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Science in China(Series F) 2009年第11期52卷 2172-2179页

作者： SUN WeiJie HUANG Jie Joint Research Center for Automation Science and Engineering Chinese University of Hong Kong and South China University of Technology & College of Automation Science and Engineering South China University of Technology Guangzhou 510641 China Joint Research Center for Automation Science and Engineering Chinese University of Hong Kong and South China University of Technology & Department of Mechanical and Automation Engineering Chinese University of Hong Kong Shatin N. T. Hong Kong China

In this paper, we consider the global robust output regulation problem for a class of uncertain nonlinear systems with nonlinear exosystems. By employing the internal model approach, we show that this problem boils down to a global robust stabilization problem of a time-varying nonlinear system in lower triangular form, the solution of which will lead to the solution of the global robust output regulation problem. An example shows the effectiveness of the proposed approach.

关键词： nonlinear systems adaptive control output regulation