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fully distributed control for task-space formation tracking of nonlinear heterogeneous robotic systems

NONLINEAR DYNAMICS 2019年第1期96卷 87-105页

作者： Yao, Xiang-Yu Ding, Hua-Feng Ge, Ming-Feng China Univ Geosci Sch Mech Engn & Elect Informat Wuhan 430074 Hubei Peoples R China

This paper studies task-space formation tracking problem of nonlinear heterogeneous robotic systems involving external disturbances, kinematic and dynamic uncertainties, where the cases with both single and multiple time-varying leaders are considered. To solve the aforementioned nonlinear control problem, several novel fully distributed control algorithms, in which no global information is employed, are developed for the nonlinear systems under directed communication topologies. Based on the proposed control algorithms, the control process is classified into two parts, namely the task-space formation tracking of master robots with a single leader and that of slave robots with multiple leaders. By invoking Barbalat's lemma and input-to-state stability theory, the sufficient criteria for the asymptotic convergence of the task-space formation tracking errors are established. In addition, the obtained results are extended to formation-containment and consensus problems in similar nonlinear cases. Finally, numerical examples are provided to illustrate the validity and advantages of the main results.

关键词： fully distributed control Nonlinear heterogeneous robotic systems (NHRSs) Multiple leaders Task-space formation tracking

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fully distributed control of Linear Systems With Optimal Cost on Directed Topologies

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2021年第1期68卷 336-340页

作者： Zhang, Zhuo Li, Huiping Yan, Weisheng Northwestern Polytech Univ Sch Marine Sci & Technol Xian 710072 Peoples R China

This brief investigates the fully distributed optimal control of linear multi-agent systems on generally directed topologies. Considering the existence of disturbances, a dynamical sliding-mode control protocol is designed. The optimization of energy-cost performance is achieved by solving a topology-free algebraic Riccati equation. The presented control protocol is independent with the global information of topologies, and each agent can manage its protocol in a fully distributed way. A numerical example is finally reported to show the efficiency of presented protocol.

关键词： Protocols Topology Optimization Optimal control Laplace equations Asymptotic stability Riccati equations Multi-agent systems fully distributed control optimal control generally directed topologies sliding-mode control

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fully distributed containment control for second-order multi-agent systems with communication delay

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ISA TRANSACTIONS 2020年 99卷 123-129页

作者： Wang, Fu-Yong Ni, Yuan-Hua Liu, Zhong-Xin Chen, Zeng-Qiang Nankai Univ Coll Artificial Intelligence Tianjin 300350 Peoples R China Nankai Univ Tianjin Key Lab Intelligent Robot Tianjin 300350 Peoples R China

In this paper, fully distributed containment control problems of multi-agent systems with double-integrator dynamics are investigated under directed topologies. For the cases with and without communication delay, two new fully distributed control protocols are designed, which do not need any global information of the communication topology graph. Necessary and sufficient conditions are obtained to ensure the solvability of the considered containment control problems. Particularly, for the case with communication delay, the critical value of the maximum allowable time delay of containment control is found. Finally, numerical simulations are presented to demonstrate the effectiveness of the theoretical results. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： fully distributed control Second-order multi-agent systems Containment control Communication delay

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fully distributed Containment control for Multiple Euler-Lagrange Systems Over Directed Graphs: An Event-Triggered Approach

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS 2020年第6期67卷 2078-2090页

作者： Xu, Tao Hao, Yuqing Duan, Zhisheng Peking Univ Dept Mech & Engn Sci Beijing 100871 Peoples R China Beihang Univ Dept Dynam & Control Beijing 100191 Peoples R China

This paper focuses on the distributed containment control problems for multiple Euler-Lagrange systems with stationary/dynamic leaders over directed communication networks. When the leaders are stationary, a distributed event-triggered adaptive control law is presented, and three other update algorithms of the time-varying control gain are further designed for comparison. Then, a distributed event-triggered neural-network-based control protocol is developed when the dynamic leaders are considered. The aforementioned two control strategies can be implemented in fully distributed chattering-free manners since no global information and discontinuous items are employed. In addition, the requirement for relative velocity measurements are relaxed in controller design. The update frequency and energy consumption of the controlled systems are effectively reduced by applying the event-triggered mechanism. It is rigorously verified that the proposed event-triggered control protocols will not be updated infinitely in finite time, which indicates that the undesired Zeno behavior can be ruled out. Finally, the effectiveness of the theoretical results is illustrated by some simulation examples.

关键词： Symmetric matrices Directed graphs Adaptive control Protocols Velocity measurement Laplace equations Heuristic algorithms Event-triggered control adaptive control neural network control fully distributed control Euler-Lagrange system

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fully distributed Containment control for Second-Order Nonlinear Multi-Agent Systems With External Disturbances

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2022年第4期69卷 2126-2130页

作者： Sun, Huajun Xia, Rong Yu, Along Huaiyin Normal Univ Sch Phys & Elect Elect Engn Huaian 223300 Peoples R China Huaiyin Normal Univ Sch Foreign Languages Huaian 223300 Peoples R China

This brief investigates the containment control for a class of second-order nonlinear multi-agent systems, where all agents are subject to external disturbance and leaders contain bounded inputs. To derive a protocol which is implemented without any global information, including the Lipschitz constants and eigenvalues of the Laplacian matrix, the adaptive control strategy is used. Sufficient conditions on containment control independent of global information and bounds of disturbances are established. To ensure that the followers can reach the convex hull spanned by leaders under the influence of disturbances, the non-smooth control strategy is introduced. The developed protocol is applied to a specific multi-agent system to show its effectiveness.

关键词： Protocols Multi-agent systems Upper bound Sun Eigenvalues and eigenfunctions Circuits and systems Task analysis Containment control multi-agent systems fully distributed control external disturbances

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NNs-observer-based fully distributed consensus control for MASs under deception attacks

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APPLIED MATHEMATICS AND COMPUTATION 2023年 456卷

作者： Zhang, Lei Che, Wei -Wei Ding, Jun -Hang Qingdao Univ Sch Automat Shandong Key Lab Ind Control Technol Qingdao 266071 Peoples R China Univ Hlth & Rehabil Sci Sch Rehabil Sci & Engn Qingdao 266071 Peoples R China

This paper proposes a novel resilient intrusion-tolerance control scheme to solve the con-sensus control problem of multi-agent systems (MASs) under deception attacks. Consider the state unavailability of MASs with unknown nonlinear terms, the unmeasurable state is estimated by designing the neural-networks(NNs)-based observer. Then, a fully distributed intrusion-tolerant adaptive protocol is developed to implement the consensus control task. The designed control strategy only involves the agent states that interact with the neigh-boring agent and does not relate to the whole communication topology information. The designed controller can ensure that the consensus error of the nonlinear MASs is even-tually ultimately bounded under deception attacks. Finally, a numerical simulation is pro-vided to verify the feasibility of the designed scheme.& COPY;2023 Elsevier Inc. All rights reserved.

关键词： Deception attacks fully distributed control Consensus control NNs-observer Multi -agent systems

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Data-driven-based fully distributed event-triggered control for nonlinear multi-agent systems ☆

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APPLIED MATHEMATICS AND COMPUTATION 2025年 495卷

作者： Qiu, Xiaojie Meng, Wenchao Wang, Yingchun Yang, Qinmin Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China

This paper investigates the fully distributed control issue for nonlinear multi-agent systems (MASs) under the limited network bandwidth. A novel event-triggered MFAC framework is developed to ensure the consensus of system output signals in a fully distributed manner, in which an adaptive step-size operator is introduced to eliminate the reliance on communication topology information. To save communication resources efficiently, a dynamic event-triggered mechanism (ETM) with switch-adjustable threshold parameters and dormancy waking functions is designed. This triggering mechanism not only accelerates the convergence of consensus errors in unstable situations, but also prolongs the inter-execution time while maintaining the desired control performance. In the entire control process, only measured input/output data are utilized. Through mathematical analysis, the average consensus errors of closed-loop MASs are proven to converge to zero asymptotically. Finally, the effectiveness and superiority of the proposed method are demonstrated through simulation comparisons.

关键词： fully distributed control Dynamic event-triggered strategy Model-free adaptive control Multi-agent systems

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fully distributed Event-Triggered control of Nonlinear Multiagent Systems Under Directed Graphs: A Model-Free DRL Approach

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IEEE TRANSACTIONS ON AUTOMATIC control 2025年第1期70卷 603-610页

作者： Shi, Xiongtao Li, Yanjie Du, Chenglong Shi, Yang Yang, Chunhua Gui, Weihua Harbin Inst Technol Shenzhen Guangdong Key Lab Intelligent Morphing Mech & Adap Shenzhen 518055 Peoples R China Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen 518055 Peoples R China Cent South Univ Sch Automat Changsha 410083 Peoples R China Univ Victoria Dept Mech Engn Victoria BC V8W 3P6 Canada

This article addresses the consensus problem of a class of unknown nonlinear multiagent systems (MASs) under directed graphs via a novel model-free deep reinforcement learning (DRL) based fully distributed event-triggered control (ETC) method. First, the DRL-based feedback linearization approach is developed to learn an approximated linearized control protocol in a model-free manner. Then, a novel adaptive event-triggered mechanism is proposed to save more communication resources and reduce the computational burden among agents, and the Zeno behavior is ruled out strictly. The control protocol proposed in this article does not involve global information, thus it can be implemented in a fully distributed manner. Furthermore, a new Lyapunov function is constructed using a graph-based diagonal matrix to achieve the consensus of MASs under directed graphs. Generally, distinct from the existing results, the proposed model-free DRL-based fully distributed ETC protocol has the following features: 1) only using the intermittent local information;2) not requiring the model information and global graph information;and 3) applicable to the more general directed graph. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control scheme.

关键词： Protocols Directed graphs Adaptation models Vectors Multi-agent systems Symmetric matrices Mathematical models event-triggered control (ETC) fully distributed control model-free deep reinforcement learning (DRL) unknown nonlinear multiagent systems (MASs)

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Cooperative output regulation of heterogeneous linear multi-agent systems via fully distributed event-triggered adaptive control

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NEUROCOMPUTING 2020年 393卷 38-45页

作者： Zhang, Juan Zhang, Huaguang Wang, Yingchun Wang, Wei Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Liaoning Peoples R China

In this paper, we discuss the cooperative output regulation problem for a class of heterogeneous linear multi-agent systems under undirected communication topological graph. First, an adaptive event-triggered protocol is introduced to achieve the consensus problem for leader-following system. Then, two fully distributed event-triggered adaptive control protocols are designed. That is, the state feedback and dynamic output feedback controllers, which does not need global information about network topology of system. Under the proposed two control protocols, the cooperative output regulation problem can be solved and no Zeno behavior happens for each agent. Finally, a numerical simulation is used to corroborate the validity of the conclusions under two control laws. Moreover, a comparative experiment is carried out to highlight the advantages of the control protocol designed in this paper. (C) 2020 Elsevier B.V. All rights reserved.

关键词： Cooperative output regulation fully distributed control Multi-agent systems Adaptive event-triggered control

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Robust arbitrary trajectory tracking of multiple heterogeneous Euler-Lagrange systems under directed graphs: A fully distributed event-triggered control

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第14期34卷 9873-9898页

作者： Yang, Yanhua Mei, Jie Ma, Guangfu Harbin Inst Technol Sch Mech Engn & Automat Shenzhen 518055 Guangdong Peoples R China Harbin Inst Technol Guangdong Key Lab Intelligent Morphing Mech & Ada Shenzhen Guangdong Peoples R China

In this paper, the robust arbitrary trajectory tracking problem of multiple heterogeneous Euler-Lagrange (EL) systems with disturbances under a directed graph is investigated via a novel fully distributed event-triggered control (ETC) strategy. Firstly, for an arbitrary tracked trajectory, the Fourier transform technique is employed to approximately obtain its linear form, which represents the leader of multiple EL systems. Since the dynamics and state of the leader are not available to all followers, fully distributed adaptive ETC-based observers are proposed for each follower to reconstruct the leader's trajectory, where the global information requirements are avoided, and the Zeno behavior is excluded by giving the minimum triggering intervals. Armed with the observed information, a robust adaptive ETC protocol is further developed such that the position-like state of each follower can track the leader with the intermittent controller updating, where a minimum control update interval is obtained theoretically. Moreover, the adaptive technique is used to eliminate the influence of the parameter uncertainties of multiple EL systems, thus the tracking is achieved asymptotically. Finally, simulation results are illustrated to show the feasibility and effectiveness of the proposed control strategy.

关键词： directed graph event-triggered control fully distributed control multiple heterogeneous Euler-Lagrange systems parameter uncertainties robust arbitrary trajectory tracking

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