具有通信时延的二阶多智能体系统有限时间一致性跟踪控制

针对具有通信时延的二阶多智能体系统的有限时间一致性控制问题,分别研究了具有固定拓扑和切换拓扑网络结构情形下的二阶多智能体系统的有限时间一致性。为使多智能体系统能在有限时间内可以达到一致,引入一致性控制增益矩阵并设计了相应的基于相对位置和相对速度的时延状态误差有限时间一致性控制算法,利用系统模型转换,泛函微分方程稳定性理论和有限时间Lyapunov稳定性定理得到了使系统在有限时间内达到一致跟踪的最大时延上界值。最后,仿真实验结果验证了所得理论的正确性和有效性。     

Finite-time consensus control for second-order multi-agent systems without velocity measurements

This paper investigates the finite-time consensus problem for second-order multi-agent systems with unknown velocities and disturbances. By introducing the second-order sliding mode observer, two novel distributed finite-time protocols with only relative position measurements are proposed for the both cases with known and unknown boundaries of disturbances. On the basis of Lyapunov stability theorem and homogeneous theory, it is proved that the consensus can be achieved in finite time. Simulation examples are provided to show the effectiveness of the theoretical results.     

Finite-time consensus for leader-following second-order multi-agent system

The finite-time consensus problems of second-order multi-agent system under fixed and switching network topologies are studied in this article. Based on the graph theory, LaSalle's invariance principle and the homogeneity with dilation, the finite-time consensus protocol of each agent using local information is designed. The leader-following finite-time consensus is analysed in detail. Moreover, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.     

异构多智能体系统有限时间一致性分析

研究二阶智能体速度不可测情况下由一阶和二阶智能体构成的异构多智能体系统有限时间一致性问题。在固定拓扑结构下,给出了异构系统实现一致性的控制协议,通过LaSalle不变集原理和齐次控制方法得到了异构系统有限时间一致性的充分条件;在切换拓扑结构下,给出了异构系统一致性的控制协议,得到了异构系统有限时间一致性的充分条件。仿真结果验证了相关结果的有效性。     

联合连通条件下的二阶多智能体系统有限时间一致性控制

针对时变动态拓扑下无leader的二阶多智能体系统有限时间一致性控制问题,本文给出有限时间一致性协议,并对所提出的一致性协议进行理论分析.基于图论、Lyapunov稳定性理论、同次性理论和积分不等式方法,证明了当通信拓扑为联合连通时,有限时间一致性协议可保证系统在有限时间达到一致.最后给出仿真结果,验证了理论的有效性.     

Leader-following finite-time consensus in second-order multi-agent networks with nonlinear dynamics

Robust finite-time consensus problems in leader-following multi-agent directed networks with second-order nonlinear dynamics are considered in this paper. By using matrix theory, algebraic graph theory and finite-time control scheme, a class of continuous distributed control algorithms are designed in a quite unified way for each follower agent to reach consensus in a finite time. A numerical example is also employed to illustrate the effectiveness and correctness of our theoretical results.     

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.     

Finite-time consensus for multi-agent systems via nonlinear control protocols

This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.     

Robust finite-time consensus tracking for second-order multi-agent systems with input saturation under general directed communication graphs

In this paper, we study the global finite-time consensus tracking problem for uncertain second-order multi-agent systems subject to input saturation. The communication graphs are allowed to be general directed graphs. Sliding-mode observer-based distributed controllers are proposed such that global finite-time consensus tracking is achieved with bounded control inputs. Only relative state or output measurements are used in the proposed controller which reduces the communication requirement on the agents. Simulation examples are given to illustrate the effectiveness of the proposed control strategies.     

基于事件驱动的多智能体有限时间分群一致控制

针对二阶线性多智能体系统的分群一致控制问题,考虑智能体通信拓扑同时包含协作和对抗关系,提出一种基于事件驱动控制的有限时间分布式领航跟随分群一致性算法,该算法可使多智能体系统在有限时间内实现分群一致,即各子组内的智能体实现状态一致,不同子组收敛至不同一致状态.采用事件驱动控制机制,设计事件驱动函数及事件触发条件,降低智能体控制器更新频率,减少系统能耗.基于代数图论和李雅普诺夫稳定性理论推导出系统的有限时间稳定性条件,通过巧妙构造Lyapunov函数,给出系统有限收敛时间的显式估计,同时证明在所提出的事件驱动机制下,每个智能体相邻触发时间间隔有严格的正下界,即避免了芝诺行为.仿真实验验证了所提出的有限时间事件驱动分群一致控制算法的有效性.     

Finite-time distributed consensus via binary control protocols

This paper investigates the finite-time distributed consensus problem for multi-agent systems using a binary consensus protocol and the pinning control scheme. Compared with other consensus algorithms which need the complete state or output information of neighbors, the proposed algorithm only requires sign information of the relative state measurements, that is, the differences between a node’s state and that of its neighbors. This corresponds to only requiring a single-bit quantization error relative to each neighbor. This signum protocol is realistic in terms of observed behavior in animal groups, where relative motion is determined not by full time-signal measurements, but by coarse estimates of relative heading differences between neighbors. The signum protocol does not require explicit measurement of time signals from neighbors, and hence has the potential to significantly reduce the requirements for both computation and sensing. Analysis of discontinuous dynamical systems is used, including the Filippov solutions and set-valued Lie derivative. Based on the second-order information on the evolution of Lyapunov functions, the conditions that guarantee the finite-time consensus for the systems are identified. Numerical examples are given to illustrate the theoretical results.     

Finite-time consensus for stochastic multi-agent systems

In this article, we study the finite-time consensus in probability for stochastic multi-agent systems. First, we give the nonlinear consensus protocol for multi-agent systems with Gaussian white noise, and define the concept of finite-time consensus in probability. Second, we prove that multi-agent systems can achieve the finite-time consensus in probability under five different kinds of communication topologies by using graph theory, stochastic Lyapunov theory and probability theory. Finally, some simulation examples are provided to illustrate the effectiveness of the theoretical results.     

Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems

In this paper, we investigate the finite-time regulation problem for heterogeneous multi-agent system composed of linear first-order, second-order integrator agents and nonlinear Euler-Lagrange (EL) dynamical agents. Based on homogeneity approach, a continuous finite-time controller is designed. A distinctive feature of this work is to address the finite-time consensus problem of first-order, second-order integrator agents and nonlinear EL agents in a unified theoretical framework. Simulation results are also provided to illustrate the effectiveness of the controller.     

Finite-time formation of multiple agents based on multiple virtual leaders

The finite-time formation problem of multiple agents aims to find a control protocol to guarantee finite-time consensus, in which every agent can be in the right position and keep in the given formation configuration efficiently. However, it is hard to achieve a stable state if only by setting one virtual leader in multiple tasks system. This paper presents a formation controller design for a second-order multiple agents to address the finite-time formation problem. In the procedure, each agent has a virtual leader, and then a control law is designed so that the agents can keep pace with their virtual leaders in terms of speed and position. Accordingly, the controller can ensure that the relative positions among different agents and the trajectory of the whole formation can be specified in advance. Moreover, since the closed-loop system is finite-time stable, which implies that the required formation is attainable without a deviation in finite time. Finally, the stability analysis is proved by applying the graph theory, Lyapunov stability theory and homogeneous system theory. The effectiveness of the algorithm is demonstrated by numerical simulations.     

完全分布式异构多智能体系统有限时间跟踪

针对异构二阶非线性多智能体系统有限时间跟踪问题,提出一种完全分布式一致性控制方法,消除对于误差上界与Laplacian矩阵特征值等全局信息的依赖.设计一种只包含局部信息的有限时间一致性协议,并提出自适应增益的分布式切换机制,使得各增益以分段常数的方式进行调节,简化了相邻两次切换时间区间内稳定性分析过程.通过反证法证明多智能体系统必将实现有限时间一致性,并且自适应增益保持有界.仿真结果验证了所提出的完全分布式一致性协议的有效性.     

Finite-time average consensus of directed second-order multi-agent systems with Markovian switching topology and impulsive disturbance

Neural Computing and Applications - This paper investigates finite-time mean square average consensus of second-order multi-agent systems, where connected typologies are directed and subject to...     

Finite-time consensus for heterogeneous multi-agent systems with mixed-order agents

This paper studies the finite-time consensus for heterogeneous multi-agent systems composed of mixed-order agents over fixed and switching topologies. The control protocol of each agent using local information is designed and the detailed analysis of the finite-time consensus for fixed and switching interaction topologies is presented. The design of the finite-time consensus protocol is based on graph theory, matrix theory, and LaSalle’s invariance principle. Both theoretical studies and simulation results show the effectiveness of the proposed method and the correctness of the obtained theoretical results.     

Finite-time consensus for multi-agent networks with unknown inherent nonlinear dynamics

The objective of this paper is to analyze the finite-time convergence of a nonlinear but continuous consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability analysis and the finite-time convergence analysis are more challenging than those under the well-studied consensus algorithms for known linear systems. For this purpose, we propose a novel comparison based tool. By using this tool, it is shown that the proposed nonlinear consensus algorithm can guarantee finite-time convergence if the directed switching interaction graph has a directed spanning tree at each time interval. Specifically, the finite-time convergence is shown by comparing the closed-loop system under the proposed consensus algorithm with some well-designed closed-loop system whose stability properties are easier to obtain. Moreover, the stability and the finite-time convergence of the closed-loop system using the proposed consensus algorithm under a (general) directed switching interaction graph can even be guaranteed by the stability and the finite-time convergence of some well-designed nonlinear closed-loop system under some special directed switching interaction graph. This provides a stimulating example for the potential applications of the proposed comparison based tool in the stability analysis of linear/nonlinear closed-loop systems by making use of known results in linear/nonlinear systems.     

基于一类连续非线性函数的多智能体系统有限时间一致性

针对存在时滞的多智能体系统,提出了基于一类连续非线性函数的有限时间一致性算法.利用Lyapunov有限时间稳定性理论和矩阵理论,给出了这类算法使得系统能够在有限时间内达到一致的充分条件,进而给出了一个满足条件的有限时间一致性算法,并对该算法的收敛性进行分析,得到了系统的收敛时间.数值仿真验证了所提出算法的有效性.     

A distributed finite-time optimization algorithm for directed networks of continuous-time agents

This article proposes a new distributed finite-time optimization algorithm for agents under directed graphs. By employing the nonsmooth technique and graph theory, a distributed discontinuous algorithm for continuous-time agents subject to strongly convex local cost functions is first designed with a finite-time distributed estimator, where the gradients of the local cost functions are estimated in finite time. It is shown that for a strongly connected graph and arbitrary initial conditions, the proposed algorithms can achieve consensus, and the systems can converge to the optimal point in finite time. Then, a two-step approach is proposed to achieve finite-time optimization of high-order agents with disturbances under directed graphs. Finally, the validity of the proposed finite-time optimization algorithm is verified by two numerical examples.