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A fully distributed Antiwindup Control protocol for Intelligent-Connected Electric Vehicles Platooning With Switching Topologies and Input Saturation

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023年第3期28卷 1683-1694页

作者： Wang, Jingyao Deng, Xingming Guo, Jinghua Luo, Yugong Li, Keqiang Xiamen Univ Sch Aerosp Engn Xiamen 361005 Peoples R China Tsinghua Univ Sch Vehicle & Mobil Beijing 100084 Peoples R China

This article proposes a fully distributed adaptive control framework to tackle the problem of intelligent-connected electric vehicles platooning with input saturation and topology changes. First, a longitudinal vehicle platoon system is investigated. A linearized dynamics model of each vehicle is provided while considering input saturation. Second, abnormal communication scenarios are given, which are described by the Markovian randomly switching topologies with several assumptions provided. Furthermore, a triple-observer structure consisting of a local observer, a distributed observer, and an antiwindup observer, is developed to establish a fully distributed adaptive antiwindup controller. The controller enables to ensure the stability of the vehicle platoon system solely requiring the local output information of each following vehicle, while avoiding the acquisition of global information. This control protocol provides a reliable solution for dealing with the input saturation constraints and the randomly switching communication topologies. Finally, the feasibility and the effectiveness of this adaptive protocol are validated by conducting some numerical simulations.

关键词： Topology Switches Vehicle dynamics protocols Electric vehicles Aerodynamics Torque Adaptive antiwindup controller connected vehicles fully distributed protocol input saturation constraint Markovian randomly switching communication graphs

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Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 173-182页

作者： Linzhen Yu Yungang Liu the School of Control Science and Engineering Shandong University

In this paper, the multi-agent systems(MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-following consensus is still pursued, with a prescribed performance and zero consensus errors. Leveraging a powerful funnel control strategy, a fully distributed and completely relative-state-dependent protocol is designed. Distinctively, the time-varying function characterizing the performance boundary is introduced, not only to construct the funnel gains but also as an indispensable part of the protocol,enhancing the control ability and enabling the consensus errors to converge to zero(rather than a residual set). Remark that when control directions are unknown, coexisting with inherent system nonlinearities, it is essential to incorporate an additional compensation mechanism while imposing a hierarchical structure of communication topology for the control design and analysis. Simulation examples are given to illustrate the effectiveness of the theoretical results.

关键词： fully distributed protocol funnel control nonidentical unknown control directions performance-prescribed consensus unknown heterogeneous nonlinearities

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fully distributed Cooperative Output Regulation of Heterogeneous Periodic Linear Multi-Agent Systems With Input Saturation

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年第8期35卷 2920-2932页

作者： Feng, Zhanpeng Zhang, Kai Jiang, Huaiyuan Zhou, Bin Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin Peoples R China Natl Key Lab Complex Syst Control Intelligent Agent Cooperat Harbin Peoples R China

This article delves into the cooperative output regulation of heterogeneous continuous-time periodic linear multi-agent systems with input saturation under undirected graphs. Leveraging characteristics inherent in the parametric differential Lyapunov equation and cooperative output regulation theory, we formulate an observer-based protocol. Specifically, we design distributed state observers for both the leader and followers, aiming to estimate the leader state and the follower state itself, respectively. Utilizing these estimated states, we propose a class of fully distributed observer-based protocols to address the considered problem. In addition, we make an extension to the reduced-order observer-based form. The most distinguishing contributions of our proposed protocols, in contrast to existing literature, lie in the fact that the considered dynamics of each agent are time-varying and have input saturation constraints. Notably, our protocols eliminate the need for global information of the network, operating in a fully distributed method. Finally, we apply the proposed control protocol to the multi-spacecraft elliptical orbit rendezvous problem.

关键词： cooperative output regulation fully distributed protocol heterogeneous multi-agent systems input saturation periodic linear system

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fully distributed finite-time consensus under state-dependent communication network

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ASIAN JOURNAL OF CONTROL 2025年第0期

作者： Zhao, Le Liu, Yungang Li, Fengzhong Shandong Univ Sch Control Sci & Engn Jinan Shandong Peoples R China Shandong Technol & Business Univ Sch Math & Informat Sci Yantai Peoples R China Minist Educ Key Lab Machine Intelligence & Syst Control Jinan Peoples R China

Network topology is one of crucial components in multi-agent systems, and it reflects the information interaction between agents. In many practical multi-agent systems, for example, wireless sensor networks, the interactions between agents can be characterized by a state-dependent graph, in which the weights vary with the relative agent states. How to achieve the finite-time consensus under the state-dependent graph is worth in-depth research and especially integrates/reforms the relevant techniques. This paper addresses the finite-time consensus for uncertain nonlinear multi-agent systems under a state-dependent graph. Typically, the systems allow severe uncertainties in control coefficients and nonlinearities, which, together with the state-dependent graph, renders the protocol design of finite-time consensus more difficult. To this end, a fully distributed protocol with dynamic high gain is designed. Notably, in the protocol, only one dynamic high gain, rather than multiple ones in related existing results, is sufficient to deal with the uncertainties and the unavailable global graph information. Especially, a condition which relies on the specified distance and the system initial states is presented to guarantee the connectivity of the graph. It turns out that by the protocol and condition, the finite-time consensus is achieved. Simulation results are given to illustrate the validity of the proposed method.

关键词： adaptive technique finite-time consensus fully distributed protocol multi-agent systems state-dependent communication network

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Resilient Time-Varying Formation-Tracking of Multiagent Systems Against Hybrid Attacks With Applications to Spacecraft Formation

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IEEE TRANSACTIONS ON CYBERNETICS 2025年第2期55卷 625-637页

作者： Cui, Yukang Huang, Yihui Zhao, Qin Yu, Xian Huang, Tingwen Shenzhen Univ Coll Mechatron & Control Engn Shenzhen 518060 Peoples R China Peng Cheng Lab Shenzhen 518000 Peoples R China Ningbo Univ Technol Res Inst Interdisciplinary Intelligent Sci Ningbo 315211 Peoples R China Shenzhen Univ Adv Technol Fac Comp Sci & Control Engn Shenzhen 518055 Peoples R China

This work investigates the time-varying formation-tracking problem of multiagent systems under hybrid attacks, including denial-of-service (DoS) attacks and actuation attacks. State estimators are designed for each node of the swarm leveraging relative information from neighboring estimators to generate the desired positional states for formation tracking. The direct use of corrupted consensus control inputs is avoided, thereby defending against actuation attacks targeted at node input signals. Furthermore, we propose an event-triggered protocol with a sampling mechanism to enhance resilience against DoS attacks on communication with neighboring estimators equipped with a topology recovery policy. This resilient protocol against DoS attacks is fully distributed and does not require prior knowledge of network topology, making it scalable to large networks. Finally, an adaptive attack-resilient control scheme is introduced to counteract potential unbounded actuation attacks via output feedback, enabling each follower to track the positional states provided by the distributed estimators. The tracking error is proven to be uniformly ultimately bounded. The proposed event-triggered hierarchical control scheme is validated through its application to spacecraft formation.

关键词： Space vehicles Event detection Denial-of-service attack Topology protocols Security Time-varying systems Target tracking Multi-agent systems Indexes fully distributed protocol hybrid attacks resilient control time-varying formation tracking (TVFT)

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Adaptive formation control with limited information for uncertain nonlinear multi-agent systems

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 15461-15472页

作者： Xu, Xiaoyu Liu, Yungang Shandong University School of Control Science and Engineering China

The paper studies the distributed adaptive formation control in the setting of limited information transmitted between agents. The limited information, due to nonzero-kernel communication weight matrices between agents, has benefits in information security and privacy preserving, although as incomplete information, it challenges the formation control. Particularly, the multi-agent systems allow heterogeneous nonlinearities and serious uncertainties, making the formation control more difficult to achieve. In the paper, a fully-distributed adaptive control scheme is presented under appropriate conditions on the communication network, by incorporating two dynamic compensators and an auxiliary dynamic variable. The two compensators are employed to separately counteract the serious uncertainties and unavailable global information of the network resulting from unmatched states and weights. The auxiliary dynamic variable is introduced in the coordinate transformation to ensure the boundedness of the control, which cannot be derived by the traditional coordinate transformation. Two numerical examples are provided to show the effectiveness of the developed approach. © 2004-2012 IEEE.

关键词： adaptive formation control fully distributed protocol heterogeneous nonlinear multi-agent systems Limited information serious uncertainties

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distributed Consensus protocol for Multi-Agent Differential Graphical Games

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2024年第1期71卷 211-215页

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

This brief investigates the multi-agent differential graphical game for high-order systems. A modified cost function for each agent is presented, and a fully distributed control protocol that guarantees the leaderless consensus and optimization in the sense of Nash equilibrium is designed. The designed protocol allows the communication topology to only contain a directed spanning tree. A numerical example is finally reported to illustrate the effectiveness of theoretical work.

关键词： Multi-agent systems graphical game leaderless consensus fully distributed protocol directed spanning tree

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Adaptive Scaled Bipartite Consensus via Funnel Control

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2024年第5期54卷 3164-3172页

作者： Yu, Linzhen Liu, Yungang Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

For consensus, one issue is that its various variants, such as group consensus, scaled consensus, and bipartite consensus, ought to be proposed as the expansion of research and applications. Another issue is that consensus should carry certain performance specifications, to meet some crucial demands, such as rapidity and safety. In this article, we investigate an integrated consensus (i.e., scaled plus bipartite consensus) with a prescribed convergence rate, for a class of uncertain nonlinear MASs. A funnel-based adaptive scheme is proposed for the scaled bipartite consensus. Specifically, a time-varying function is preselected to characterize the prescribed convergence rate. Utilizing this time-varying function and the relative states defined in the sense of the scaled bipartite consensus, a fully distributed protocol is designed. Therein, the funnel gains are critical ingredients to ensure the prescribed performance, since they would increase the control signal to be sufficiently large once the relative states approach the performance boundary. Particularly, the selected time-varying design function is added to act as a part of the control gain in the protocol, which is critical to forcing the ultimate convergence (to zero) of relative states. The proposed protocol is verified by a simulation example.

关键词： Convergence protocols Steady-state Safety Robots Eigenvalues and eigenfunctions Control design Completely unknown nonlinearities fully distributed protocol funnel control prescribed convergence rate scaled bipartite consensus

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Strong consensus of convex second-order multi-agent systems with time-varying topologies

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2024年第16期34卷 11267-11281页

作者： Jin, Yongfang Liu, Xingwen Cao, Mengtao Tashi, Nyima Dalian Univ Technol Sch Math Sci Dalian Peoples R China Southwest Minzu Univ Coll Elect Engn Lab Complex Syst & Intelligent Control Chengdu Peoples R China Tibet Univ Engn Res Ctr Tibetan Informat Proc Sch Informat Sci & Technol Lhasa Peoples R China

This paper addresses the strong consensus problem of convex second-order discrete-time multi-agent systems (MASs) with time-varying topologies. The convex second-order discrete-time MAS model is derived from the Langevin equation and therefore has a certain physical significance. The strong consensus here means that all the first- and second-order states converge to an identical value. Some fully distributed control protocols are designed with time-varying weights randomly chosen from an arbitrary finite set. These protocols are applicable to several cases where changing topologies may be directed or undirected, and connected or disconnected. As a special case, the condition for convex second-order MASs with fixed topologies to achieve the strong consensus is presented. Finally, two simulation examples illustrate the proposed results.

关键词： convex second-order MASs fully distributed protocol Langevin equation strong consensus time-varying topologies

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Adaptive Time-Varying Formation Tracking Control for Multiagent Systems With Nonzero Leader Input by Intermittent Communications

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第9期53卷 5706-5715页

作者： Zhang, Juan Zhang, Huaguang Sun, Shaoxin Cai, Yuliang Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Liaoning Peoples R China Chongqing Univ Coll Automat Chongqing 400044 Peoples R China Liaoning Univ Sch Math & Stat Shenyang 110036 Liaoning Peoples R China

The time-varying formation (TVF) tracking problem is studied for linear multiagent systems (MASs), where followers reach a preset TVF when tracking the leader's state. Followers are divided into the informed ones, which directly receive the leader's information, and uninformed ones. To alleviate communication requirements, trigger mechanisms are designed for the leader and all edges. Note that the designed trigger mechanisms enable the leader to send information intermittently and each follower to transmit information asynchronously when the corresponding trigger mechanism is satisfied. To address the TVF tracking problem, the node-event (for the leader) and (dynamic) edge-event triggered adaptive control strategy is proposed, which is fully distributed and has no relation to the system network's scale. Moreover, the MASs do not exhibit the Zeno behavior. Finally, a practice example is introduced to effectively illustrate the theoretical results.

关键词： Time-varying systems Multi-agent systems Adaptive control Task analysis Trajectory Sun protocols Adaptive control edge-event triggered mechanism (EETM) fully distributed protocol multiagent systems (MASs)

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