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Adaptive connectivity-preserving formation control with a dynamic event-triggering mechanism

JOURNAL OF THE FRANKLIN INSTITUTE 2025年第1期362卷

作者： Guo, Tiantian Liu, Yungang Hu, Hong-Xiang Hangzhou Dianzi Univ Sch Sci Hangzhou 310018 Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

Connectivity preservation for real-life multi-agent systems is key to designing an effective and reliable control algorithm to achieve desired objectives. But the coexistence of system nonlinearities and uncertainties makes it difficult for the algorithm design, and especially in the event-triggered setting, such difficulty becomes severer due to the demand for integration of multiple ingredients. This paper focuses on proposing an adaptive connectivity-preserving formation control strategy that incorporates a dynamic event-triggering mechanism, in the scenario of the unknown control directions and intrinsic nonlinearities coupling with parameter uncertainties. First, a cluster of potential functions serving as control barrier functions are given to maintain the prescribed connectivity of communication graph. Second, two types of dynamic gains (one type is based on a Nussbaum function) are introduced for agents to cope with the system nonlinearities, uncertainties and the adverse effect of the execution error. As such, an adaptive event-triggered formation protocol is constructed such that the desired formation with connectivity preservation is achieved while a positive minimum inter-execution interval is ensured for each agent to avoid Zeno behavior. Particularly, the threshold in the developed event-triggering mechanism is dynamically adjusted online, rather than static, which better improves resource efficiency. A simulation example is given to demonstrate the effectiveness and advantage of the proposed strategy.

关键词： Nonlinear multi-agent systems Unknown control directions dynamic gains dynamic event-triggering mechanism Formation control Connectivity preservation

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An adaptive connectivity-preserving consensus strategy with dynamic event-triggering mechanism 14

An adaptive connectivity-preserving consensus strategy with ...

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14th Asian Control Conference (ASCC)

作者： Guo, Tiantian Hangzhou Dianzi Univ Sch Sci Hangzhou Peoples R China

ISBN: (纸本)9798331540845;9789887581598

This paper studies adaptive event-triggered consensus with connectivity preservation in the setting of unknown control coefficients and heterogeneous nonlinearities coupling with parameter uncertainties. Specifically, a group of potential functions are given to ensure the relative distances between agents within the limited range for all time. Moreover, two types of dynamic gains for agents are introduced to handle the system nonlinearities, uncertainties and the execution error. Thus, an adaptive event-triggered control protocol is designed to achieve desired consensus with connectivity preservation while Zeno behavior for the closed-loop systems is excluded. Especially, a dynamic event-triggering mechanism incorporating an internal dynamic variable is proposed, which makes the triggering threshold become bigger than that in static one and thereby better improves the resource efficiency. A simulation example is given to verify the effectiveness of the developed control strategy.

关键词： nonlinear multi-agent systems unknown control coefficients parameter uncertainties dynamic gains dynamic event-triggering mechanism consensus connectivity preservation

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Output Feedback Control of Multi-Agent Systems Based on dynamic event-triggering mechanism 35

Output Feedback Control of Multi-Agent Systems Based on Dyna...

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35th Chinese Control and Decision Conference (CCDC)

作者： Wang, Yan Wen, Jiwei Jiangnan Univ Sch Internet Things Engn Minist Educ Key Lab Adv Proc Control Light Ind Wuxi 214122 Jiangsu Peoples R China

ISBN: (纸本)9798350334722

This paper aims to study the output feedback control for multi-agent systems under dynamic event-triggering mechanism. First, a new dynamic output feedback control law is developed by using the relative outputs between neighboring agents at triggering time instants. Compared with existing work, this control protocol does not require interaction between controllers. Second, a dynamic event-triggering mechanism is designed, which effectively reduces the amount of data transmission between agents. events are mainly triggered during initial periods when the system has not achieved consensus, and each agent will not show Zeno behavior when intensive triggering is required. Finally, the effectiveness of the developed control protocol under dynamic event-triggering mechanism is verified by a numerical simulation.

关键词： multi-agent systems dynamic event-triggering mechanism dynamic output feedback relative outputs

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dynamic event-triggering Resilient Coordination for Time-Varying Heterogeneous Networks

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IEEE TRANSACTIONS ON SIGNAL AND INFORMATION PROCESSING OVER NETWORKS 2025年 11卷 329-341页

作者： Liao, Zirui Shi, Jian Wang, Shaoping Zhang, Yuwei Chen, Rentong Sun, Zhiyong Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Beihang Univ Shenyuan Honors Coll Beijing 100191 Peoples R China Wuhan 2nd Ship Design & Res Inst Sci & Technol Thermal Energy & Power Lab Wuhan 430205 Peoples R China Tianmushan Lab Hangzhou 310023 Peoples R China Beihang Univ Beihang Ningbo Innovat Res Inst Ningbo 315800 Peoples R China Peking Univ Coll Engn Dept Mech & Engn Sci State Key Lab Turbulence & Complex Syst Beijing 100091 Peoples R China

This study addresses the resilient coordination problem for heterogeneous multi-agent systems (MASs) consisting of first-order and second-order agents in time-invariant and time-varying networks. An internal dynamic variable is introduced to flexibly adjust the triggering threshold and facilitate the dynamic event-triggering condition (DETC). Under adversarial attacks, a novel resilient consensus strategy called heterogeneous dynamic event-triggering mean-subsequence-reduced (HDE-MSR) algorithm is further developed, which ensures that the positions of all healthy agents achieve consensus on the identical value and the velocities of all healthy second-order agents asymptotically approach zero despite the influence of faulty agents. Moreover, the resilient consensus in time-varying networks is further guaranteed by the introduction of jointly robust graphs. Finally, three case studies are provided to validate the effectiveness and superior performance of the HDE-MSR algorithm.

关键词： Heuristic algorithms Network topology Switches Fault diagnosis dynamic scheduling Time-varying systems Information processing Delays Training Topology dynamic event-triggering mechanism heterogeneous MAS resilient coordination time-varying network

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dynamic event-triggering adaptive dynamic programming for robust stabilization of partially unknown nonlinear systems

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NEUROCOMPUTING 2025年 628卷

作者： Hong, Yishen Xue, Shan Liu, Derong Wang, Yonghua Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Hainan Univ Sch Informat & Commun Engn Haikou 570228 Peoples R China Southern Univ Sci & Technol Sch Automat & Intelligent Mfg Shenzhen 518055 Peoples R China Univ Illinois Dept Elect & Comp Engn Chicago IL 60607 USA

In this paper, anew dynamic event-triggering (DET) mechanism based on adaptive dynamic programming (ADP) is developed to deal with the robust control problem of partially unknown uncertain systems. First, this paper completes the transition from the robust control problem to the optimal control problem by designing a nominal system. Meanwhile, the use of integral reinforcement learning (IRL) eliminates the need for prior knowledge of drift dynamics. Then, to improve resource utilization, a static event-triggering (SET) scheme is designed. Subsequently, a DET scheme is developed on the basis of SET to further improve resource utilization. It is proven that the developed DET controller guarantees the robustness of the partially unknown uncertain system. The neural network (NN) weight estimation errors are uniformly ultimately bounded (UUB) while the Zeno behavior is successfully avoided. Finally, an experiment is provided to demonstrate that the proposed DET algorithm has the fewest triggering samples while guaranteeing robustness.

关键词： Adaptive dynamic programming dynamic event-triggering mechanism Robust control Integral reinforcement learning Neural networks

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Fully Distributed dynamic event-Triggered Semiglobal Consensus of Multi-agent Uncertain Systems with Input Saturation via Low-gain Feedback

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2021年第4期19卷 1451-1460页

作者： Zhao, Guanglei Wang, Zhao Fu, Xiuwei Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Hebei Peoples R China Jilin Inst Chem Technol Coll Informat & Control Engn Jilin 132022 Jilin Peoples R China

This paper investigates the event-triggered consensus problem of multi-agent systems with uncertainties and input saturation. First, a fully distributed robust consensus low-gain feedback control strategy is proposed, in which some global information, such as the communication graph and the scale of network, is not needed. Then, by defining an internal dynamic variable to memory the past state, an adaptive dynamic event-triggering mechanism is proposed, which contributes to reducing the usage of communication resources and also does not rely on any global information. Furthermore, Lyapunov-based consensus analysis results are presented, and it is also formally shown that Zeno behavior can be excluded with the proposed consensus protocols. Finally, a numerical example is provided to illustrate the effectiveness of the proposed results.

关键词： dynamic event-triggering mechanism fully distributed control input saturation low-gain feedback technique multi-agent systems

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event-Based Average Consensus of Disturbed MASs via Fully Distributed Sliding Mode Control

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2024年第3期69卷 2015-2022页

作者： Yao, Deyin Li, Hongyi Shi, Yang Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Guangdong Univ Technol Guangdong Prov Key Lab Intelligent Decis & Coopera Guangzhou 510006 Peoples R China Univ Victoria Dept Mech Engn Victoria BC V8W 3P6 Canada

Under undirected graph, we design the fully distributed static and dynamic event-triggered sliding mode controllers concerning the average consensus issues for single- and double-integrator multiagent systems (MASs) with perturbations. To guarantee the consensus convergence of disturbed first- and second-order MASs, two distributed sliding manifolds with respect to an odd function are first devised in this article. Second, two types of event-triggered mechanisms, i.e., a static event-triggering mechanism and a dynamic event-triggering mechanism, are established to improve the utilization efficiency of network resources and avoid the continuous communication with neighbors. In both event-triggered sliding mode control (SMC) strategies, the fully distributed event-triggered SMC laws without global information of the multiagent networks are proposed, and they can ensure the state trajectories of disturbed first- and second-order MASs to reach the average consensus. Meanwhile, the finite-time reachability of the specified sliding manifold can be guaranteed and Zeno behavior can be also averted. Third, taking advantage of the Lyapunov stability theory and SMC, sufficient conditions for the average consensus of single- and double-integrator continuous-time MASs are established. At the end, in order to show the validity of the proposed event-triggered SMC strategies, a numerical simulation and comparative study are offered.

关键词： Average consensus disturbed multiagent systems (MASs) dynamic event-triggering mechanism fully distributed event-triggered robust controller sliding mode control (SMC)

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dynamic event-triggered control for delayed switched neural networks: A merging signal scheme

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第18期33卷 11374-11391页

作者： Wang, Ping Wang, Zhen Huang, Xia Shen, Hao Shandong Univ Sci & Technol Coll Math & Syst Sci Qingdao 266590 Peoples R China Qingdao Agr Univ Coll Sci & Informat Qingdao Peoples R China Shandong Univ Sci & Technol Coll Elect Engn & Automat Qingdao Peoples R China Anhui Univ Technol Sch Elect & Informat Engn Maanshan Peoples R China

This paper investigates the asynchronous control of delayed switched neural networks via a dynamic event-triggering mechanism (DETM) and a merging signal scheme. Firstly, an improved DETM is proposed through adding an exponential decaying term into the triggering condition, which is proved to have a larger lower bound by comparison with the static event-triggering mechanism (SETM) and the existing DETM. Next, a merging signal is constructed by introducing a time-varying delay to combine the system switching signal with the controller switching signal, which is convenient to deal with the synchronous and asynchronous switching in a unified framework. Then, the closed-loop system which integrates the proposed DETM with the merging signal is formulated. Moreover, by constructing multiple time-dependent Lyapunov functionals, sufficient conditions which ensure the asymptotical stability of the resulting closed-loop system are derived, and a design algorithm for the feedback controller is designed consequently. Finally, the validity and superiority of the proposed results are demonstrated by numerical examples.

关键词： asynchronous switching dynamic event-triggering mechanism merging signal switched neural networks

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dynamic event-Based Adaptive Finite-Time Tracking Control for Nonlinear Stochastic Systems Under State Constraints

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2022年第11期52卷 7201-7210页

作者： Hua, Changchun Meng, Rui Li, Kuo Ning, Pengju Yanshan Univ Inst Elect Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Sch Elect Engn Qinhuangdao 066004 Hebei Peoples R China Korea Univ Sch Elect Engn Seoul 02841 South Korea

This article focuses on the problem of adaptive finite-time tracking control for nonlinear stochastic systems under asymmetric constraints based on dynamic event-triggering control. Different from the existing works, a novel adaptive tracking control algorithm is proposed with asymmetric time-varying constraints and dynamic event-triggering mechanism. First, to constrain the state variable within given time-varying boundaries, a novel predefined-time performance function is constructed. Second, a novel barrier function related to state variable is constructed, by means of which the state variable is directly constrained within the asymmetric time-varying boundaries without the virtual controller. In addition, by establishing a novel dynamic function, we propose a dynamic event-triggering mechanism, and then design controller accordingly, which can reduce computation burdens and save the network resources. By the aid of the Lyapunov stability theory, it is proved that the system tracking error converges to an adjustable bounded set in probability in a finite time and all state variables are successfully constrained into the asymmetric time-varying boundaries. Finally, the effectiveness of the proposed control algorithm is verified by a simulation example.

关键词： Stochastic systems Time-varying systems Heuristic algorithms Adaptive systems Nonlinear dynamical systems Measurement errors Lyapunov methods Adaptive tracking control asymmetric time-varying constraints dynamic event-triggering mechanism nonlinear stochastic systems predefined-time performance function (PTPF)

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A Distributed dynamic event-Triggered Control Approach to Consensus of Linear Multiagent Systems With Directed Networks

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IEEE TRANSACTIONS ON CYBERNETICS 2020年第2期50卷 869-874页

作者： Hu, Wenfeng Yang, Chunhua Huang, Tingwen Gui, Weihua Cent South Univ Sch Informat Sci & Engn Changsha 410083 Peoples R China Texas A&M Univ Qatar Sci Program Doha Qatar

In this paper, we study the consensus problem for a class of linear multiagent systems, where the communication networks are directed. First, a dynamic event-triggering mechanism is introduced, including some existing static event-triggering mechanisms as its special cases. Second, based on the dynamic event-triggering mechanism, a distributed control protocol is developed, which ensures that all agents can reach consensus with an exponential convergence rate. Third, it is shown that, with the dynamic event-triggering mechanism, the minimum interevent time between any two consecutive triggering instants can be prolonged and no agent exhibits Zeno behavior. Finally, an algorithm is provided to avoid continuous communication when the dynamic event-triggering mechanism is implemented. The effectiveness of the results is confirmed through a numerical example.

关键词： Multi-agent systems Protocols Communication networks Symmetric matrices Decentralized control Heuristic algorithms Directed communication networks dynamic event-triggering mechanism event-triggered consensus linear dynamics

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