Leader-Following Mean Square Consensus of Stochastic Multi-agent Systems via Periodically Intermittent Event-Triggered Control

Neural Processing Letters - This paper investigates the leader-following mean square consensus of stochastic multi-agent systems. Firstly, an intermittent event-triggered strategy along with...     

Bipartite Consensus of Nonlinear Discrete-time Multi-agent Systems via Variable Impulsive Control

International Journal of Control, Automation and Systems - This paper addresses the bipartite consensus of the nonlinear discrete-time multi-agent systems on network where cooperation and...     

State-dependent Impulsive Control for Consensus of Multi-agent Systems

International Journal of Control, Automation and Systems - This paper aims to investigate the consensus of multi-agent systems, where each agent runs hopfied-type neural networks, by means of the...     

Leaderless Consensus of Non-linear Mixed delay Multi-agent Systems with Random Packet Losses via Sampled-data Control

International Journal of Control, Automation and Systems - This paper inspects the consensus problem of nonlinear mixed delay multi-agent systems with random packet losses through the sampled-data...     

含区间时变时滞的线性不确定系统非脆弱鲁棒控制

针对一类时滞是时变的且属于一个已知区间的线性系统,利用Lyapunov-Krasovskii泛函方法,结合积分不等式方法,以线性矩阵不等式的形式,给出了区间时滞线性系统的时滞相关鲁棒稳定性准则,并设计了非脆弱鲁棒控制器。数值算例表明,所得结论是有效的,具有更低的保守性。     

Robust Leader-Following Output Regulation of Uncertain Multi-Agent Systems With Time-Varying Delay

In this paper, the robust analysis and design of leader-following output regulation for multi-agent systems described by general linear models is given in presence of timevarying delay and model uncertainty. To this aim, a new regulation protocol for the closed-loop multi-agent system under a directed graph is proposed. An important specification of the proposed protocol is to guarantee the leader-following output regulation for uncertain multi-agent systems with both stable and unstable agents. Since many signals can be approximated by a combination of the stationary and ramp signals, the presented results work for adequate variety of the leaders. The analysis and design conditions are presented in terms of certain matrix inequalities. The method proposed can be used for both stationary and ramp leaders. Simulation results are presented to show the effectiveness of the proposed method.      

离散时间分数阶多自主体系统的时延一致性

复杂工作环境中,许多自然现象的个体动力学特性用整数阶方程不能描述,只能用非整数阶（分数阶）动力学来描述个体的运动行为. 本文假设多自主体系统内部连接组成有向加权网络,个体的动态特性应用分数阶动力学方程描述,个体之间数据传输存在通信时延. 应用分数阶系统的Laplace变换和频域理论,研究了离散时间的分数阶多自主体系统的渐近一致性. 应用Hermit-Biehler 定理,研究了具有样本时延的分数阶多自主体系统的运动一致性,得到保证系统稳定的时延的上界阈值. 最后应用一个实例对结论进行了验证.     

事件触发下多智能体系统固定时间二分一致性

针对具有符号有向图的一阶多智能体系统,研究了其固定时间二分一致性问题。为降低控制过程中多智能体系统的能量损耗,提出了一种基于事件触发机制的分布式控制协议。以图论和李雅普诺夫理论为主要研究工具,给出了多智能体系统在所设计控制协议作用下实现固定时间二分一致性的充分条件和与系统初始状态无关的收敛时间上界,并证明了使用该协议可以有效避免对智能体的连续控制和Zeno行为的发生。数值算例验证了所得理论结果的有效性。     

具有时变不确定性的脉冲时滞大系统的鲁棒稳定性

提出并研究了具有时变不确定性的脉冲时滞大系统的鲁棒稳定性,借助于向量比较原理和矩阵不等式等方法,对该系统建立了若干大范围指数鲁棒稳定的判据,并举例说明了结论的有效性。     

Consensus Seeking for Discrete-time Multi-agent Systems with Communication Delay

This paper studies the consensus problem for discrete-time multi-agent systems of first-order in the presence of constant communication delay. Provided that the agent dynamics is unstable and the network topology is undirected, effects of two kinds of communication delays on consensus are investigated. When the relative information is affected by delay, we show that the effect of delay can be alleviated by using the historical input information in the protocol design. On the other hand, if the communication delay only influences the actually transmitted information, sufficient condition admitting any large yet bounded delay for consensus is obtained, and the delay in this case is allowed to be unknown and time-varying. Finally, simulation results are provided to demonstrate the effectiveness of the theoretical results.      

具有通信时延和输入时延的1阶多自主体系统的一致性问题

研究了同时具有时变通信时延和定常输入时延的1阶多自主体系统的一致性问题.假设多自主体系统的连接拓扑中各节点的输出度相等,采用变量代换将原多自主体系统的一致性问题转化为降阶系统的渐近稳定性问题.根据李亚普诺夫渐近稳定性定理以及线性矩阵不等式法,在通信时延导数信息已知和未知的情况下,分别得到了多自主体系统在静态和连通拓扑结构下渐近一致的充分条件,且该条件与通信时延和输入时延都相关.仿真结果验证了结论的有效性.     

Fixed-time Group Consensus of Nonlinear Multi-agent Systems via Pinning Control

This paper deals with the fixed-time group consensus problem for multi-agent systems (MASs) subjected to exogenous disturbances. Firstly, two pinning control algorithms are constructed for MASs, which not only reduce the number of controllers but also achieve expected tracking consensus. Secondly, fixed-time group consensus is ensured by utilizing the algebraic graph theory, Lyapunov stability and fixed-time control technique. Finally, simulations are finally given for demonstrate the availability of the derived results.

     

二阶多智能体系统采样控制的一致性

研究在固定拓扑和切换拓扑下,二阶多智能体系统通过采样控制的一致性问题。首先,对于固定拓扑,给出了二阶多智能体系统通过采样控制达到一致性的充要条件;其次,对于切换拓扑,在所有联合切换拓扑有生成树的前提下,建立基于控制参数和采样周期使二阶系统实现一致性的充分条件。最后,用数值仿真验证所给结论的有效性。     

可变脉冲控制下的多智能体系统固定时间一致性研究

为降低网络节点间的通信成本并提升系统收敛速度,提出基于可变脉冲控制的多智能体系统(MASs)固定时间一致性的双阶控制(TSC)策略。将整个控制周期分为可变脉冲控制阶段和固定时间连续控制阶段,根据实际应用需求动态调整脉冲控制和固定时间控制的时间周期,并且在脉冲时间窗内可随机进行脉冲采样。采用固定时间一致性理论使MASs的一致性时间不依赖于系统的初始条件,引入随机扰动增强TSC策略在实际系统中的可用性,利用Lyapunov函数、代数图论和矩阵分析得到系统达到固定时间一致性的充分条件。通过具有切换拓扑结构的领导-跟随者数值仿真案例验证了理论分析的有效性,并表明TSC策略的收敛时间和通信次数相比于单一可变脉冲控制和单一固定时间连续控制分别减少了0.07 s和6～9。     

Distributed Leaderless and Leader-Following Consensus Control of Multiple Euler-Lagrange Systems with Unknown Control Directions

This paper investigates leaderless and leader-following consensus control problems for a group of Euler-Lagrange systems with unknown identical control directions under an undirected connected and time-invariant graph in the presence of parametric uncertainties. For both leaderless and leader-following consensus cases, distributed adaptive controllers are presented using the backstepping technique and a Nussbaum-type function. Moreover, these controllers are distributed in the sense that the controller design for each system only requires relative information between itself and its neighbors. The projection algorithm is applied to guarantee that the estimated parameters remain in some known bounded sets. Lyapunov stability analysis shows that the consensus errors converge to zero asymptotically. Simulation results on multiple two-link planar elbow manipulators are provided to illustrate the performance of the proposed algorithms.     

Consensus of Delayed Multi‐agent Systems via Intermittent Impulsive Control

A novel intermittent impulsive scheme is presented to realize consensus of multi‐agent systems with time‐varying delay in this paper because intermittent impulsive control may break through the limitation of upper bound of impulsive intervals in general impulsive control in our consensus scheme. Instead of activating all the time, we introduce the intermittent impulsive control approach into the delayed multi‐agent systems where the impulsive controller is only functioned in the control windows. Based on the algebraic graph theory, the Lyapunov stability theory, and Halanay inequality matrix theory, some adequate conditions are proposed to guarantee the consensus of delayed multi‐agent systems via pinning intermittent impulsive control. Simulation results are provided ultimately to verify the validity of the proposed control mechanism.     

Event-triggered Consensus for Second-order Multi-agent Systems via Asynchronous Periodic Sampling Control Approach

International Journal of Control, Automation and Systems - This paper focuses on asynchronous periodic sampling consensus for leader-following second-order multi-agent systems with event-triggered...     

Leader-following Consensus of Nonlinear Delayed Multi-agent Systems with Randomly Occurring Uncertainties and Stochastic Disturbances under Impulsive Control Input

This paper investigates the leader-following consensus problem for a class of nonlinear delayed multiagent systems with randomly occurring uncertainties and stochastic disturbances under impulsive control inputs. For this class of multi-agent system, we present a novel impulsive control protocol which can effectively reduce the control cost and is easy to implement. Two consensus criteria are derived for ensuring global exponential consensus of nonlinear delayed multi-agent systems under non-uniformly distributed impulsive control signals based on comparison principle and average impulsive interval. Compared with the consensus criteria which are derived by the upper bound or lower bound of the impulse intervals in existing results, the obtained criteria are proved to be easier to be satisfied. Simulation results illustrate the effectiveness of the theoretical results.