符号图下含扰动的多智能体系统预定时间二分一致性

研究符号图下具有扰动的多智能体系统二分一致性控制问题.考虑了线性系统、非线性不确定系统以及切换拓扑的情况,分别提出相应的预定时间控制器,各控制器可使系统在预定时间内实现二分一致性.通过Lyapunov稳定性理论、代数图论和矩阵分析等验证算法的准确性;仿真对比实验验证了所提算法的可行性和有效性;相较于有限时间控制算法,所提算法的收敛时间不依赖于初始状态,可以通过选择单一时间参数设定系统收敛时间上界;相较于固定时间控制算法,所提算法预设收敛时间与控制算法参数无关,设定简单,具有更低的保守性.     

切换拓扑下非线性多智能体系统自适应神经网络一致性

本文研究一类具有未知控制系数的非线性多智能体系统自适应神经网络分布式控制策略.首先,针对切换拓扑下具有未知控制系数的非线性多智能体系统一致性问题,提出一类自适应神经网络一致性控制算法.其中,采用神经网络函数逼近方法解决系统中的不确定性问题,并设计一项自适应光滑项处理有界扰动和神经网络函数逼近误差.随后,证明了切换拓扑下具有未知控制系数的非线性多智能体系统的一致性,并保证了闭环系统的有界性.此外,本文把相关的一致性算法扩展到了一般有向图含有一个有向生成树的情形.最后,通过仿真实例验证了本文所提算法的有效性.     

Finite-time consensus tracking for multi-agent systems with inherent uncertainties and disturbances

In this paper, finite-time consensus tracking is investigated via time-varying feedback for uncertain nonlinear multi-agent systems (NMASs). The presence of inherent uncertainties and disturbances in the NMASs highlights the main novelty : (1) The inherent uncertainties imply that more serious unknowns and time-variations are allowed in the nonlineartities and the control coefficients of the NMASs. (2) The inherent disturbances mean that the upper bound of the disturbances is unknown. To compensate the inherent uncertainties and disturbances, time-varying protocols are proposed by integrating time-varying technique and sliding mode method. Based on the proposed protocols, the finite-time leader-following consensus and finite-time containment are achieved under directed graph. Finally, the validation of the proposed protocols is verified by two examples.     

Adaptive finite-time consensus in multi-agent networks

This paper is concerned with the finite-time consensus problem of distributed agents having non-identical unknown nonlinear dynamics, to a leader agent that also has unknown nonlinear control input signal. By parameterization of unknown nonlinear dynamics, a Lyapunov technique in conjunction with homogeneity technique is presented for designing a decentralized adaptive finite-time consensus control protocol in undirected networks. Homogeneous Lyapunov functions and homogeneous vector fields are introduced in the stability analysis although the whole system is not homogeneous. Theoretical analysis shows that leader-following consensus can be achieved in finite-time, meanwhile, finite-time parameter convergence can be also guaranteed under the proposed control scheme. An example is given to validate the theoretical results.     

多智能体切换网络自适应组一致性

在切换网络下,针对具有未知且互不相同的非线性动态的多智能体系统,假设其未知的非线性动态可线性参数化,并运用自适应控制策略和牵制控制方法,提出了一种组一致性算法,使得多智能体系统在切换网络下达到组一致性。该算法仅仅依赖相邻智能体间的相对位置信息,基于Lyapunov理论、Barbalat引理、自适应控制理论及代数图论等理论,对该算法进行了稳定性分析和参数收敛分析。通过一个仿真实例验证了提出的算法有效性。     

一种新的数据驱动的非线性自适应切换控制方法

针对一类非线性离散时间动态系统, 提出了一种新的非线性自适应切换控制方法. 该方法首先把非线性项分解为前一拍可测部分与未知增量和的形式, 并充分利用被控对象的大数据信息和知识, 把非线性项前一拍可测数据与未知增量都用于控制器设计, 分别设计了线性自适应控制器, 带有非线性项前一拍可测数据补偿的非线性自适应控制器以及带有非线性项未知增量估计与补偿的非线性自适应控制器. 三个自适应控制器通过切换函数和切换规则来协调控制被控对象. 既保证了闭环系统的稳定性, 同时又提高了闭环系统的性能. 分析了闭环切换系统的稳定性和收敛性. 最后, 通过水箱液位系统的物理实验, 实验结果验证了所提算法的有效性.     

有向图中基于扰动观测器的线性多智能体系统一致性

在有向图中,针对多智能体系统中智能体动力学存在扰动的情形,研究了系统的一致性问题.每个智能体的动力学模型为存在未知外部扰动的一般线性系统.在有向图是强连通的条件下,通过设计一种基于扰动观测器的分布式算法,实现了存在未知扰动的线性多智能体系统的一致性.最后通过仿真验证所提算法的有效性.     

积分事件触发策略下的线性多智能体系统领导跟随一致性

研究有向切换拓扑下线性多智能体系统的事件触发一致跟踪问题.大多数已有的工作研究了固定拓扑下的事件触发控制,然而,当智能体间联系随时间发生改变或通信拓扑随时间发生变化时,该控制策略失效.鉴于此,在考虑切换拓扑的基础上提出一种基于积分型事件触发的控制策略.首先,当拓扑图包含一棵生成树且领导者是根节点时,利用Lyapunov稳定性理论、代数图论和矩阵变换,基于积分型事件触发控制协议,在切换拓扑下多智能体系统达到领导跟随一致性;然后,当存在多个领导者时,基于设计的触发机制在切换拓扑下多智能体系统实现包含控制,上述两种情况下闭环系统均不存在Zeno现象;最后,通过仿真结果验证控制策略的有效性.     

Adaptive consensus of multi-agents in networks with jointly connected topologies

In this paper, the consensus problem of multi-agent following a leader is studied. An adaptive design method is presented for multi-agent systems with non-identical unknown nonlinear dynamics, and for a leader to be followed that is also nonlinear and unknown. By parameterizations of unknown nonlinear dynamics of all agents, a decentralized adaptive consensus algorithm is proposed in networks with jointly connected topologies by incorporating local consensus errors in addition to relative position feedback. Analysis of stability and parameter convergence of the proposed algorithm are conducted based on algebraic graph theory and Lyapunov theory. Finally, examples are provided to validate the theoretical results.     

Finite-time consensus of time-varying nonlinear multi-agent systems

This paper investigates the problem of leader–follower finite-time consensus for a class of time-varying nonlinear multi-agent systems. The dynamics of each agent is assumed to be represented by a strict feedback nonlinear system, where nonlinearities satisfy Lipschitz growth conditions with time-varying gains. The main design procedure is outlined as follows. First, it is shown that the leader–follower consensus problem is equivalent to a conventional control problem of multi-variable high-dimension systems. Second, by introducing a state transformation, the control problem is converted into the construction problem of two dynamic equations. Third, based on the Lyapunov stability theorem, the global finite-time stability of the closed-loop control system is proved, and the finite-time consensus of the concerned multi-agent systems is thus guaranteed. An example is given to verify the effectiveness of the proposed consensus protocol algorithm.     

具有容性负载的直流微电网系统分布式协同控制

针对一类具有容性负载的直流微电网系统, 提出了分布式协同控制方法. 具有容性负载的直流微电网是一类耦合动态互联非线性网络化系统, 可将DC-DC变换器在信息层视为智能体, 在每个子系统模块中, 引入容性负载电压观测器, 耦合并联非线性系统负载均衡控制设计问题可解耦成一阶积分器多智能体系统的输出一致性跟踪问题. 基于最近邻原则, 通过在控制器中引入比例、积分环节, 设计了增益可调的分布式协同PI控制律, 当有向图满足至少含有一棵生成树的条件下, 通过子系统间的局部交互, 可以实现负载均衡的目标. 通过分析增广系统矩阵的特征值证明了整个闭环系统的稳定性. 仿真和实验说明了所提出的控制方法的有效性及可行性.     

Fuzzy adaptive output feedback control for a class of switched non-triangular structure nonlinear systems with time-varying delays

This paper investigates an adaptive fuzzy output feedback control design problem for switched nonlinear system in non-triangular structure form. The discussed system contains unknown nonlinear dynamics, unmeasured states and unknown time-varying delays under a batch of switching signals. Fuzzy logic systems are utilised to learn unknown nonlinear dynamics and construct a fuzzy switched nonlinear observer. By combining the property of fuzzy basis function with Lyapunov–Krasovskii functional and the command filter, a novel observer-based fuzzy adaptive backstepping schematic design algorithm is presented. Furthermore, the stability of the closed-loop control system is proved via Lyapunov stability theory and average dwell time method. The simulation results are presented to verify the validity of the proposed control scheme.     

基于滑模的二阶多智能体快速抗扰一致性

针对带有外部未知扰动的二阶多智能体系统的领导—跟随有限时间一致性问题，本文设计出一种带有时变增益的有限时间干扰观测器，用以实现对每个跟随智能体中未知扰动的快速估计，在此基础上，本文结合超螺旋积分滑模控制方法并利用邻居智能体的位置和速度信息设计一种快速抗扰一致性协议，该协议能够保证存在非线性动态的多智能体系统有限时间一致性控制并能抑制抖振现象.同时，利用李亚普诺夫函数进行了稳定性的证明.最后，通过Matlab数值仿真进一步验证了所提出协议的可行性.     

Asynchronous decentralised event-triggered control of multi-agent systems

In this paper, the consensus problem of first-order multi-agent systems under linear asynchronous decentralised event-triggered control is investigated. Both undirected and directed topologies are considered. In the analysis, the closed-loop multi-agent systems with the event-triggered control are modelled as switched systems. After proposing the decentralised event-triggered consensus protocols, decentralised state-dependent event conditions are derived, which act as switching signals. The consensus analyses are performed based on graph theory and stability results of switched systems. Under the event-triggered control schemes presented, consensus is reached with enlarged sampling periods and no Zeno behaviour. Simulation examples are given to illustrate the effectiveness of the proposed theoretical results.     

Neural-Network-Based Control for Discrete-Time Nonlinear Systems with Input Saturation Under Stochastic Communication Protocol

In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input saturation.To save the communication resources between the controller and the actuators,stochastic communication protocols(SCPs)are adopted to schedule the control signal,and therefore the closed-loop system is essentially a protocol-induced switching system.A neural network(NN)-based identifier with a robust term is exploited for approximating the unknown nonlinear system,and a set of switch-based updating rules with an additional tunable parameter of NN weights are developed with the help of the gradient descent.By virtue of a novel Lyapunov function,a sufficient condition is proposed to achieve the stability of both system identification errors and the update dynamics of NN weights.Then,a value iterative ADP algorithm in an offline way is proposed to solve the optimal control of protocol-induced switching systems with saturation constraints,and the convergence is profoundly discussed in light of mathematical induction.Furthermore,an actor-critic NN scheme is developed to approximate the control law and the proposed performance index function in the framework of ADP,and the stability of the closed-loop system is analyzed in view of the Lyapunov theory.Finally,the numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.     

Distributed adaptive output feedback tracking control for a class of uncertain nonlinear multi-agent systems

This paper addresses the distributed output feedback tracking control problem for multi-agent systems with higher order nonlinear non-strict-feedback dynamics and directed communication graphs. The existing works usually design a distributed consensus controller using all the states of each agent, which are often immeasurable, especially in nonlinear systems. In this paper, based only on the relative output between itself and its neighbours, a distributed adaptive consensus control law is proposed for each agent using the backstepping technique and approximation technique of Fourier series (FS) to solve the output feedback tracking control problem of multi-agent systems. The FS structure is taken not only for tracking the unknown nonlinear dynamics but also the unknown derivatives of virtual controllers in the controller design procedure, which can therefore prevent virtual controllers from containing uncertain terms. The projection algorithm is applied to ensure that the estimated parameters remain in some known bounded sets. Lyapunov stability analysis shows that the proposed control law can guarantee that the output of each agent synchronises to the leader with bounded residual errors and that all the signals in the closed-loop system are uniformly ultimately bounded. Simulation results have verified the performance and feasibility of the proposed distributed adaptive control strategy.     

Design of a class of nonlinear consensus protocols for multi‐agent systems

This paper investigates the consensus problem for multi‐agent systems and presents a class of nonlinear consensus protocols. First, we reveal some structure property of the corresponding Laplacian matrix by decomposing the interaction graph into strongly connected components. Then, by means of the input‐to‐state stability and algebraic graph theory, we propose a framework to prove consensus for multi‐agent systems with nonlinear protocols. In particular, we prove that consensus can be always reached in systems of single‐integrator agents with a directed communication topology containing a spanning tree, provided the nonlinear protocol is an odd and increasing function. The nonlinear consensus protocols proposed in this paper include the classical linear consensus protocol as a special case, and may have a wide range of applications, including consensus with faster convergence rates and with bounded control inputs. Copyright © 2012 John Wiley & Sons, Ltd.     

线性和非线性动态异构多自主体系统的有限时间一致性（英文）

In this paper, the finite-time consensus problems of heterogeneous multi-agent systems composed of both linear and nonlinear dynamics agents are investigated. Nonlinear consensus protocols are proposed for the heterogeneous multi-agent systems.Some sufficient conditions for the finite-time consensus are established in the leaderless and leader-following cases. The results are also extended to the case where the communication topology is directed and satisfies a detailed balance condition on coupling weights.At last, some simulation results are given to illustrate the effectiveness of the obtained theoretical results.     

线性和非线性动态异构多自主体系统的有限时间一致性

研究了由线性和非线性动态自主体组成的异构多自主体系统的有限时间一致性问题.针对该异构系统提出了非线性的一致性协议,并分别给出了无领航者和有领航者情形下异构系统在有限时间内实现一致性的充分条件.所得结果还推广到具有有向通信拓扑且满足细致平衡条件的多自主体系统情形.最后,给出一些仿真结果来验证所得结论的正确性和有效性.     

Consensus seeking in multiagent cooperative control systems with bounded control input

Consensus algorithms in multiagent cooperative control systems with bounded control input are studied in this paper.Consensus algorithms are considered for the single-integrator dynamics and double-integrator dynamics under different communication interaction topologies,and show that consensus is reached asymptotically using the algorithm proposed in this paper for the single-integrator dynamics if the undirected interaction graph is connected,and consensus is reached asymptotically if the directed interaction graph is strongly connected,respectively.In addition,the paper further shows that consensus is reached asymptotically using the algorithm proposed for the double-integrator dynamics if the directed interaction graph is strongly connected.The effectiveness of these algorithms is demonstrated through simulations.