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time-Varying Constrained Consensus of Asynchronous discrete-time multi-agent system 1

20th Chinese Intelligent systems Conference

作者： Wang, Yaowen Mo, Lipo Yang, Tongqing Beijing Technol & Business Univ Sch Math & Stat Beijing 100048 Peoples R China Beijing Technol & Business Univ Sch Comp & Artificial Intelligence Beijing 100048 Peoples R China

ISBN: (数字)9789819786503

ISBN: (纸本)9789819786527;9789819786503;9789819786497

This paper discusses the time-varying constrained consensus problem of asynchronous discrete-time multi-agent system that all agents are constrained in non-empty closed convex sets changing over time. We introduce an enlarged multi-agent system to deal with asynchronous communication where the communication graphs are assumed to be directed, unbalanced and dynamically changing, and their union graph is strongly connected. Based on the properties of projection operator, the original system is proven to reach consensus in the case that the constraint sets have nonempty intersection. For the case that constraint sets have limit set, the constrained consensus can be reached based on geometric properties of constraint sets. Finally, we give two numerical examples to show the effectiveness and correctness of the method.

关键词： Asynchronous communication discrete-time multi-agent system time-varying constrained consensus

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Formation Control of discrete-time multi-agent systems Based on Distributed Filter Observer 3

Formation Control of Discrete-time Multi-agent Systems Based...

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3rd Conference on Fully Actuated system Theory and Applications (FASTA)

作者： Gao, Huanli Li, Wei Qiu, Ming Cai, He South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510641 Peoples R China Guangdong Engn Technol Res Ctr Unmanned Aerial Ve Guangzhou 510641 Peoples R China Peoples Armed Forces Dept Shanhaiguan Dist Qinhuangdao 066200 Hebei Peoples R China

ISBN: (纸本)9798350373707;9798350373691

This paper explores the formation control of discrete multi-agent systems under external communication disturbance. Firstly, leveraging the modified algebraic Riccati equation, a disturbed output based discrete filter observer is proposed to minimize network information exchange and mitigate disturbance effects. Then, the formation control issue is transformed into a cooperative output regulation problem, which a certainty equivalent state feedback controller solves. The effectiveness of the control strategy is demonstrated by numerical simulations.

关键词： Formation Control discrete-time multi-agent system Distributed Filter Observer

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A reset control approach to consensus of first-order discrete-time multi-agent systems 17

A reset control approach to consensus of first-order discret...

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IEEE 17th International Conference on Control and Automation (ICCA)

作者： Cheng, Yi Hu, Wenfeng Cent South Univ Sch Automat Changsha Peoples R China

ISBN: (数字)9781665495721

ISBN: (纸本)9781665495721

In this paper, we address the consensus problem for discrete-time multi-agent systems by proposing a novel reset consensus protocol. By introducing time-varying gains, the consensus problem is addressed by using the properties of the time-varying stochastic system matrices. It is shown that the consensus of all agents is achieved with a larger convergence rate than that of existing control protocols. A numerical example is presented to illustrate the theoretical results.

关键词： Reset control consensus protocols discrete-time multi-agent system

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Output consensus based model predictive control for general discrete-time linear multi-agent systems 5

Output consensus based model predictive control for general ...

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5th International Conference on Mechanical, Control and Computer Engineering (ICMCCE)

作者： Song, Guanghao Liu, Xiaohua Ludong Univ Sch Math & Stat Sci Yantai Peoples R China

ISBN: (纸本)9781665423144

In this paper, a control protocol based on model predictive control scheme was proposed to solve the output consensus problem of general linear discrete multi-agent systems with fixed topology. First, using partial stability theory, the necessary and sufficient conditions for the consensus of discrete-time multi-agent systems were derived. Then, the consensualising controller was designed by using model predictive control (MPC) theory. Finally, the effectiveness of the algorithm was shown by a numerical example.

关键词： output consensus discrete-time multi-agent system partial stability model predictive control (MPC)

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Ultra-fast formation control of high-order discrete-time multi-agent systems based on multi-step predictive mechanism

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ISA TRANSACTIONS 2015年 58卷 165-172页

作者： Zhang, Wenle Liu, Jianchang Wang, Honghai Northeastern Univ Coll Informat Sci & Engn Shenyang Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Provin Peoples R China

This paper deals with the ultra-fast formation control problem of high-order discrete-time multi-agent systems. Using the local neighbor-error knowledge, a novel ultra-fast protocol with multi-step predictive information and self-feedback term is proposed. The asymptotic convergence factor is improved by a power of q+1 compared to the routine protocol. To some extent, the ultra-fast algorithm overcomes the influence of communication topology to the convergence speed. Furthermore, some sufficient conditions are given herein. The ones decouple the design of the synchronizing gains from the detailed graph properties, and explicitly reveal how the agent dynamic and the communication graph jointly affect the ultra-fast formationability. Finally, some simulations are worked out to illustrate the effectiveness of our theoretical results. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： discrete-time multi-agent system Formation control Self-feedback Distributed control multi-step predictive mechanism

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Robust formation control of discrete-time multi-agent systems by iterative learning approach

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INTERNATIONAL JOURNAL OF systemS SCIENCE 2015年第4期46卷 625-633页

作者： Liu, Yang Jia, Yingmin Beihang Univ BUAA Res Div 7 Beijing Peoples R China Beihang Univ BUAA Dept Syst & Control Beijing Peoples R China Beihang Univ BUAA SMSS Key Lab Math Informat & Behav Semant LMIB Beijing Peoples R China

By means of the iterative learning approach, robust formation control is investigated for the discrete-time multi-agent systems with unknown nonlinear dynamics, in the presence of iteration-varying initial formation errors. The formation problem is firstly converted into a stability control problem, and then a distributed iterative learning scheme is developed for networks with switching topology. Based on the 2-D analysis approach, a sufficient condition is derived to guarantee the boundedness of formation errors during the whole motion process, and feedback matrix of the proposed iterative scheme can be further determined by solving linear matrix inequalities (LMIs). Simulation results illustrate the effectiveness of the proposed method.

关键词： initial shifts switching topology formation control iterative learning control (ILC) nonlinear dynamics discrete-time multi-agent system

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Ultra-fast consensus of discrete-time multi-agent systems under a unified framework

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INTERNATIONAL JOURNAL OF CONTROL 2015年第6期88卷 1123-1132页

作者： Zhang, Wenle Liu, Jianchang Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Provin Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Provin Peoples R China

This paper deals with the ultra-fast consensus problem of high-order discrete-time multi-agent systems under a unified framework. A multi-step neighbour-error predictive mechanism is established based on the future evolution of the network dynamic without predictive information. By predicting the dynamics of a network several steps ahead and adding this information into the consensus protocol, a novel ultra-fast consensus protocol with the self-feedback term is proposed. The asymptotic convergence factor is improved by a power of q + 1 compared to the routine consensus protocol. The ultra-fast consensus algorithm can overcome the influence of communication topology to the convergence speed toward consensus, and solve the difficult problem of selecting the optimal control gain which minimises the asymptotic convergence factor. Moveover, some sufficient conditions for ultra-fast consensus design are given herein. The ones decouple the design of the synchronising gains from the detailed graph properties, and explicitly reveal how the agent dynamic and the communication graph jointly affect ultra-fast consensus of discrete-time multi-agent systems. A simulation is performed to illustrate the effectiveness of the theoretical results.

关键词： asymptotic convergence factor self-feedback neighbour-error predictive mechanism discrete-time multi-agent system distributed control unified consensus framework

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Formation Control of discrete-time multi-agent systems by Iterative Learning Approach

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND systemS 2012年第5期10卷 913-919页

作者： Liu, Yang Jia, Yingmin Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Dept Syst & Control Beijing 100191 Peoples R China Beihang Univ BUAA Minist Educ LMIB Beijing 100191 Peoples R China

In this paper, the formation control problem is investigated for discrete-time multi-agent systems with unknown nonlinear dynamics by means of the iterative learning approach. For networks with switching topology, a distributed iterative learning scheme is developed using the local formation error data with anticipation in time, and a sufficient condition is derived to guarantee that the desired formation can be preserved during the whole finite-time motion or operation process, even in the presence of initial formation errors. Simulation results illustrate the effectiveness of the proposed method.

关键词： discrete-time multi-agent system formation control iterative learning control (ILC) nonlinear dynamics switching topology

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Distributed formation control of multi-agent systems with nonuniform time-delay in stochastic networks

Distributed formation control of multi-agent systems with no...

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2012 IEEE International Conference on Computer Science and Automation Engineering（CSAE 2012）

作者： Li Ben-yin,Han Na-ni College of Electrical Engineering,Long-Dong University,Qingyang,Gansu,China

In the paper,It is investigates the distributed formation control for discrete-time multi-agent systems when there exists nonuniform time delay in stochastic networks,which are supposed to change with a Markov *** protocols to make the followers form the desired formation while tracking the virtual leader and reaching velocity consensus are *** sufficient conditions that the parameters of the proposed protocols satisfy to make the protocol effective are *** is shown that there is no constraint on the upper bound of communication ***,the simulation results illustrate the effectiveness of the designed protocols.

关键词： discrete-time multi-agent system distributed formation control nonuniform time delay stochastic networks

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