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1.
This paper investigates the output consensus problem of heterogeneous continuous‐time multiagent systems under randomly switching communication topologies. The switching mechanism is governed by a time‐homogeneous Markov process, whose states correspond to all possible communication topologies among agents. A novel dynamic consensus controller is proposed. The controller gains are designed based on the information of the expectation graph and the solutions to regulator equations. Furthermore, a necessary and sufficient condition is presented for output consensus of the controlled multiagent system in mean square sense. Finally, a simulation example is provided to corroborate the effectiveness of the proposed controller. 相似文献
2.
This article considers the mean square leader-following output consensus problem of heterogeneous multi-agent systems under randomly switching topologies and time-varying communication delays. By modeling the switching topologies as a time-homogeneous Markov process and taking the communication delays into consideration, a distributed observer is proposed to estimate the state of the leader. A novel distributed output feedback controller is then designed. By constructing a novel switching Lyapunov functional, an easily-verifiable sufficient condition to achieve the mean square leader-following output consensus is given. Finally, two simulation examples are presented to show the effectiveness of the proposed control scheme. 相似文献
3.
In this article, we investigate the mean-square consensus problem of multiagent systems with one leader and multiple followers. In consideration of the uncertain disturbance from external environment or internal change of system, the interaction topology and time-varying delay switch randomly which are regulated by a time-homogeneous Markovian chain. The distributed control protocol is designed based on the stochastic sampling information from its neighbors and the leader. Using stochastic Lyapunov theory and linear matrix inequality (LMI) approach, the sufficient condition is concluded to guarantee the mean-square consensus. For the undirected topology case, a low-dimensional LMI-based consensus criterion is further derived based on the matrix diagonalization method. Finally, a numerical simulation is provided to demonstrate the reasonability of the theoretical results. 相似文献
4.
Wenchao Huang Tiantian Liu Hailin Liu Yanwei Huang Shaobin Chen 《Asian journal of control》2023,25(2):1336-1349
The robust leader-following consensus of heterogeneous multiagent systems under switching communication topologies is investigated in this paper. Especially, the input delay is considered in each follower. In order to access the information of leader through time-varying communication, a type of distributed dynamic compensator is proposed for every follower firstly, which get rid of the dependence on the global spectrum information and is proved that it can be viewed as a asymptotic observer of the leader. Then combined with the internal model principle, two types of distributed control law are proposed based on the compensator. By applying the truncated predictor feedback scheme to synthesize the closed-loop systems, it is proved that the consensus can be achieved by both of the control laws despite the existence of the input delay and the plant parameters perturbations. Finally, numerical simulations are illustrated to demonstrate the results. 相似文献
5.
This paper is concerned on the consensus problem of multiagent systems with random switching topologies, where the dwell time of each topology consists of fixed and random parts. Firstly, the consensus analysis of such multiagent systems is considered by a mode‐dependent Lyapunov function approach, whose conditions are developed in terms of linear matrix inequalities. Then, three kinds of consensus protocols based on random switching topologies are proposed, whose differences are also illustrated. Moreover, all the existence conditions of such consensus controllers are presented with solvable forms, where the dwell times and topology are both included and play important roles. Finally, the proposed consensus protocols are applied to a chemical process to demonstrate the effectiveness of the proposed methods. 相似文献
6.
This paper presents a Nussbaum function–based universal cooperative output regulation design for a class of nonlinear multiagent systems with both an unknown exosystem and nonidentical unknown control directions. The major challenges include the nonidentical unknown control directions in a directed communication graph and the concurrence of the unknown parameters in both the plant and the exosystem. To handle the nonidentical unknown control directions, we propose a dynamic compensator–based distributed controller such that the Nussbaum gain technique can be successfully implemented under directed communication graphs. Moreover, to deal with the unknown exosystem, we integrate the distributed controller with a novel internal model candidate. The resulting distributed controller is a universal regulator in the sense that it does not require the unknown parameters to be in known compact sets. Furthermore, the proposed controller is more flexible compared with those in the existing works as any existing Nussbaum gains can be adopted in the controller design and the adopted Nussbaum gains can be nonidentical for each agent. 相似文献
7.
H. Cai 《国际通用系统杂志》2014,43(3-4):294-304
In recent years, the leader-following consensus problem for multiple uncertain Euler–Lagrange systems has been studied under some restrictive assumptions on the network topology. In this paper, we further study the same problem under switching network topology. We propose a distributed adaptive control law that can solve the problem under a switching network satisfying jointly connected condition. Under this condition, our results do not require the network to be undirected and allow the network to be disconnected at any time instant. Moreover, by introducing an exosystem to generate various reference signals, our control law can handle a class of reference signals such as sinusoidal signals with arbitrary amplitudes and initial phases or ramp signals with arbitrary slopes. 相似文献
8.
In this work, a consensus problem with nonconvex control input and velocity constraints is studied for continuous‐time multiagent systems. In order to solve this problem, a fully distributed nonlinear algorithm is provided and an analysis approach is proposed based on the contraction property of an equivalent time‐varying system after a model transformation. It is shown that consensus can be achieved under the condition that there exists a directed spanning tree in the union of the communication graphs in each certain time interval. A numerical simulation is provided to show the obtained result. 相似文献
9.
This article investigates the leader‐following consensus of nonlinear multiagent systems under semi‐Markovian switching topologies and cyber attacks. Unlike the related works, the communication channels considered herein are subjected to successful but recoverable attacks, and when the channels work well, the network topology is time‐varying and described by a semi‐Markovian switching topology. Due to the effect of attacks, the communication network is intermittently paralyzed. For the cases that the transition rates of semi‐Markovian switching topologies are completely known and partially unknown, observer‐based control protocols and sufficient conditions are proposed, respectively, to ensure the consensus of the systems in the mean square sense. Finally, simulation examples are given to illustrate the validity of the theoretical results. 相似文献
10.
The containment control of stochastic multiagent systems with semi‐Markov switching topologies is investigated in this paper. The general case that the distribution function of the sojourn time is dependent on both the current system mode and the target mode is considered. Taking state multiplicative noise into account and using stochastic techniques, sufficient conditions to achieve the containment control in the asymptotic mean square sense are obtained in a form of linear matrix inequalities and the controller design condition is given. Finally, a simulation is given to demonstrate the effectiveness of the obtained theoretical results. 相似文献
11.
Dandan Zhang 《International journal of systems science》2013,44(14):2873-2887
This paper investigates the leader-following fixed-time output feedback consensus problem for second-order multi-agent systems with input saturation. By combing fixed-time control technique and bi-limit homogeneous systems theory, a class of bounded fixed-time consensus protocols are developed for leader-following multi-agent systems. The protocol design is divided into two parts. First, when all the state information of the followers are measurable, a state feedback consensus protocol is designed to achieve fixed-time consensus. Then, when the velocity information is unmeasurable, an observer-based fixed-time consensus protocol is proposed. With the help of Lyapunov stability theorem and the property of a homogeneous function, it is theoretically shown that the states of all followers can track that of the leader in fixed-time in the presence of input saturation. Finally, numerical simulation is carried out to illustrate the effectiveness of theoretical results. 相似文献
12.
In this paper, we consider the output tracking problem of a multiagent system with asymmetric delays and a switching topology. The multiagent system contains a leader and some followers, the dynamics of which are heterogeneous, and the output of the leader is available to only a subset of followers. We propose two types of observers to estimate states of the leader and reduce communication cost. For the informed followers that can directly obtain information of the leader, a common observer is given to reduce the complexity of observer design. Meanwhile, for the rest of the followers, a distributed observer with asymmetric communication delays for each follower is designed. The observer error system is transformed into a switched system. Through designing the average dwell‐time switching law and constructing multiple Lyapunov functionals, some sufficient conditions for stability of the observer error system are obtained. Furthermore, a distributed controller for followers based on the relative information is developed to track the output of the leader. Finally, an example is given to validate the effectiveness of the proposed results. 相似文献
13.
In this article, the target controllability of multiagent systems under fixed and switching topologies is investigated, respectively. In the fixed topology setting, some necessary and/or sufficient algebraic and graph‐theoretic conditions are proposed, and the target controllable subspace is quantitatively studied by virtue of almost equitable graph vertex partitions. In the switching topology setting, based on the concepts of the invariant subspace and the target controllable state set, some necessary and sufficient algebraic conditions are obtained. Moreover, the target controllability is studied from the union graph perspective. The results show that when the union graph of all the possible topologies is target controllable, the multiagent system would be target controllable even if each of its subsystems is not. Numerical simulations are provided finally to verify the effectiveness of the theoretical results. 相似文献
14.
With the rapid development of swarm intelligence, consensus problem for multi-agent systems (MASs) has attracted substantial attention. To deal with the leader-following consensus problems in stochastic dynamical MASs with fixed and switching topologies, this article designed proportional-integral (PI) control protocols. On the basis of algebraic graph theory and stochastic analysis techniques, by selecting appropriate Lyapunov functions, it is theoretically shown that leader-following consensus of MASs with stochastic dynamics underlying fixed and switching topologies can be achieved in mean square, respectively. Sufficient criteria are derived for selecting the PI control gains. Finally, the theoretical results are illustrated through several numerical simulations. 相似文献
15.
This paper addresses the cooperative output regulation problem of multiagent systems with fixed and switching topologies. Each agent is a heterogeneous linear system, and the output of the exosystem can be available to only a subset of agents. For the agents that can directly access the exosystem, a common observer based on an event‐triggered strategy is constructed to estimate the exogenous signal for feedback control design. For the rest of the agents, estimators based on an event‐triggered mechanism to acquire the estimation value of the exogenous signal are designed under some essential assumptions. A decentralized event‐triggered formulation is considered first by applying a Lyapunov function for a fixed topology. Furthermore, a topology‐dependent triggering condition and the average dwell‐time switching law are deduced simultaneously by using multiple Lyapunov functions for switching topologies. Under communication constraints, we propose observer‐based and estimator‐based feedback controllers to solve the cooperative output regulation problem using available local information among agents. Two examples are finally provided to verify the effectiveness of the proposed theoretical results. 相似文献
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17.
This paper studies the event‐triggered output consensus problem of heterogeneous linear multiagent systems characterized via fixed and switching directed graphs. With proper state‐dependent triggering functions, two new event‐triggered output consensus control schemes are proposed for each agent to achieve consensus. Notably, under the proposed control protocols, continuous communication among agents is not required in both controllers updating and triggering threshold detection, which means being completely continuous communication free. The communication instances are reduced significantly, and the periodic or high‐frequency communication is restrained. It is also ensured that events cannot be triggered infinitely in finite time (ie, the Zeno behavior is elegantly avoided). Meanwhile, the simulation examples are given to illustrate the theoretical analysis. 相似文献
18.
Xiaolin Ai Jianqiao Yu Zhenyue Jia Di Yang Xuan Xu Yuanchuan Shen 《国际强度与非线性控制杂志
》2018,28(6):2144-2160
》2018,28(6):2144-2160
This paper considers the leader‐follower consensus tracking problem for nonlinear multiagent systems with external disturbances and switching topologies. A distributed disturbance observer is constructed to estimate the disturbances suffered by the followers. Then, a distributed consensus protocol is proposed for the consensus tracking problem with disturbance rejection under a fixed directed topology based on the disturbance observer. Next, this result is extended to the case in which the switching communication topology only frequently but not always contains a directed spanning tree. By selecting the parameters appropriately such that the communication time satisfies various preset conditions, it is theoretically proven that the consensus tracking with disturbance rejection can also be achieved by the multiagent systems. Finally, a simulation example is presented to demonstrate the performance of the proposed control scheme. 相似文献
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20.
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control sche... 相似文献