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Leader-Following Consensus of Multi-Agent Systems via fully distributed Event-Based Control

Journal of Shanghai Jiaotong university(Science) 2024年第4期29卷 640-645页

作者： GENG Zongsheng ZHAO Dongdong ZHOU Xingwen YAN Lei YAN Shi School of Information Science and Engineering Lanzhou UniversityLanzhou730000China Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education Lanzhou UniversityLanzhou730000China

This paper aims to study the leader-following consensus of linear multi-agent systems on undirected ***,we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative *** protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function.A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach,and the Zeno-behavior is ***,two numerical examples are provided to illustrate the effectiveness of the theoretical results.

关键词： consensus multi-agent systems event-based control adaptive control fully distributed protocol

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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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Adaptive Finite-Time Consensus for Stochastic Multiagent Systems With Uncertain Actuator Faults

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2023年第4期10卷 1899-1912页

作者： Xiao, Guanli Wang, JinRong Meng, Deyuan Guizhou Univ Dept Math Guiyang 550025 Guizhou Peoples R China Kechuang Ind Dev Co Ltd Guian Supercomp Ctr Guiyang 550025 Guizhou Peoples R China Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

This article aims to develop fully distributed adaptive protocols and establish the finite-time consensus criteria for nonlinear stochastic multiagent systems that are subjected to multiple uncertainties not only in the agents' states and inherent nonlinearities but also in their actuators. First, we propose a new continuous fully distributed consensus protocol for leaderless stochastic multiagent systems by leveraging the adaptive technology to enable the agents to achieve the finite-time consensus in the probability efficiently. Second, we develop an adaptive protocol for leader-following multiagent systems, and remarkably our protocol contains only one dynamic gain, which is adequate to resist multiple uncertainties and to ensure the realization of finite-time consensus in the probability. Finally, we provide numerical simulations to verify the effectiveness of our protocols.

关键词： Uncertainty Consensus protocol Adaptive systems Actuators Network systems Multi-agent systems Fault tolerant systems Adaptive technology finite-time consensus fully distributed protocol stochastic multiagent systems uncertain actuator faults

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Performance-prescribed consensus for uncertain nonlinear multi-agent systems under directed graph

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2023年第6期33卷 3535-3550页

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

Whether or not system performance can be prescribed by users is one core issue for almost all control problems, of course for multi-agent control systems. But it could pose stern constraints on or exceptions to systems and control methods. How can one guarantee the prescribed performance while covering much more systems? It deserves deep study and particularly entails the integration/reformation of the related techniques. In the paper, we are concerned with the leaderless consensus with a prescribed convergence rate, aiming at n$$ n $$-dimensional multi-agent systems typically with unknown heterogeneous nonlinearities under a directed graph. In view of the essence of the problem, we resort to a powerful time-varying high-gain method, that is, funnel control. Specifically, to suppress unknown system nonlinearities and guarantee the prescribed performance, funnel gains are devised by utilizing the relative states and a time-varying design function. Integrating them as well as a series of intermediate variables, a distributed consensus protocol is obtained without involving any global graph information. Remark that besides being used to construct funnel gains, the time-varying design function is also introduced as a part of the protocol, substantially enhancing the control effect and playing a key role in forcing the relative states to ultimately converge to zero. It is shown that under the proposed protocol, the desired consensus is achieved with a prescribed convergence rate. A simulation example is given to illustrate the effectiveness of the theoretical result.

关键词： fully distributed protocol funnel control leaderless consensus prescribed convergence rate unknown heterogeneous nonlinearities

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Secure Consensus of Multiagent Systems With DoS Attacks via fully distributed Dynamic Event-Triggered Control

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2023年第10期53卷 6588-6597页

作者： Du, Shengli Sheng, Hong Ho, Daniel W. C. Qiao, Junfei Beijing Univ Technol Fac Informat Technol Beijing Lab Smart Environm Protect Beijing 100124 Peoples R China Beijing Univ Technol Minist Educ Engn Res Ctr Intelligent Percept & Autonomous Con Beijing 100124 Peoples R China City Univ Hong Kong Dept Math Hong Kong Peoples R China

This article investigates the secure consensus problem of general linear multiagent systems with denial-of-service (DoS) attacks. Owning to the existence of DoS attacks, it is challenging to investigate the event-triggered control of multiagent systems in a fully distributed manner. This article presents a novel dynamic event-triggered mechanism to alleviate the limited communication resources. Moreover, the designed mechanism is fully distributed and scalable owing to the introduction of some adaptive coupling weights. Since the DoS attacks have been considered in the event-triggered rule design, a novel adaptive parameter with an additional exponential term is adopted to deal with DoS attacks. The Lyapunov design also introduces such a term for the subsequent stability analysis. Sufficient conditions guaranteeing the asymptotic consensus of the studied system are developed in light of the controller's parameters, duration, and frequency of the DoS attacks. Strict proof is provided to demonstrate that a secure consensus can be reached effectively under the proposed control mechanism. Furthermore, it is shown that the Zeno behavior can be excluded from the designed triggering mechanism. Finally, simulations on a multiagent system consisting of interconnected unmanned intelligent vehicles are conducted to verify the results.

关键词： Consensus denial-of-service (DoS) attacks event-triggered mechanism fully distributed protocol multiagent systems

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Formation Tracking Control for Heterogeneous Multiagent Systems With Multiple Nonautonomous Leaders via Dynamic Event-Triggered Mechanisms

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第11期53卷 7224-7237页

作者： Song, Weizhao Feng, Jian Zhang, Huaguang Cai, Yuliang Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China Liaoning Univ Sch Math & Stat Shenyang 110036 Liaoning Peoples R China

This article considers the time-varying formation (TVF) tracking issue of heterogeneous multiagent systems (HMASs) with the dynamic event-triggered control. The HMASs contain heterogeneous multiple leaders, all of which have the input signals to generate flexible reference, and only the output information can be measured. All leaders do not have access to the same followers, that is, the well-informed follower assumption is removed in this article. In this setting, the adaptive multileader state compensator is designed for each follower to estimate the integrated state information of all leaders, which can equip with two kinds of dynamic event-triggered mechanisms, that is, node-based event-triggered mechanism and edge-based event-triggered mechanism, to save communication bandwidth. Then, the TVF controllers are built by some estimation values to regulate the followers to achieve and maintain the geometric shape while tracking the reference which is the convex combination of outputs of leaders. The event-triggered compensator and TVF controller constitute the control protocol of HMASs, which are independent of global information with the fully distributed manner. The stability analysis and numerical simulations are given to verify the presented control protocol.

关键词： Adaptive control dynamic event-triggered control fully distributed protocol heterogeneous multiagent system (HMAS) multiagent system (MAS) multiple leaders time-varying formation (TVF)

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fully distributed adaptive finite-time consensus over uncertain network topology

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2023年第4期54卷 731-750页

作者： Zhao, Le Liu, Yungang Li, Fengzhong Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

Communication network could suffer uncertainties originating from link faults and network attacks. This situation, in multi-agent systems, can be featured by unknown weights of network topology. To impair the influence of the uncertain topology, typical compensation should be taken into account in distributed protocols to the workability of multi-agent systems. This paper, in the context of uncertain topology, addresses finite-time leader-following consensus for second-order uncertain nonlinear multi-agent systems. In addition to uncertainties in topology, the systems also allow unknown control coefficients, which together with the unknown weights renders the realisation of finite-time leader-following consensus nontrivial. Specifically, a fully distributed protocol based on distributed finite-time observer is designed via integrating the adaptive compensation scheme. Notably, in the designed protocol, dynamic high gains are introduced for the compensations of the network uncertainties and agents uncertainties. It turns out that the designed fully distributed protocol guarantees the global finite-time leader-following consensus. Simulation examples are provided to illustrate the validity of the proposed approach.

关键词： Multi-agent systems uncertain network topology finite-time consensus fully distributed protocol fully distributed observer adaptive technique

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Cooperative Control of Multi-Time-Scale Agent Networks Under Digraphs

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IEEE ACCESS 2023年 11卷 30796-30806页

作者： Wei, Li-Mei Yang, Wu Hua, Tong Guangxi Univ Xingjian Coll Sci & Liberal Arts Nanning Peoples R China Guangxi Univ Sch Elect Engn Nanning Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automation Wuhan Peoples R China

This paper addresses cooperative control for a class of multi-agent networks. An interesting feature of such network is that each agent possesses the characteristic of multi-time-scale. By developing the relative states or the relative outputs based consensus protocols, some well-conditioned consensus criteria in terms of linear matrix inequalities are derived successively based on the e-strict Lyapunov function. Compared with undirected graphs or strongly connected digraphs in existing works, a more general digraph that it contains at least a directed spanning tree is considered herein. Moreover, a fully distributed consensus protocol with time-varying coupling strength is proposed to avoid using global information. Finally, the obtained theoretical results are validated by two examples including standard and nonstandard agents.

关键词： Topology Vehicle dynamics Network topology Consensus protocol Perturbation methods Manipulator dynamics Standards Consensus directed graph fully distributed protocol multi-time-scale feature strict Lyapunov function

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Dynamic Event-Triggered Formation Control for Heterogeneous Multiagent Systems With Nonautonomous Leader Agent

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023年第12期34卷 9685-9699页

作者： Song, Weizhao Feng, Jian Zhang, Huaguang Wang, Wei Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China

In this article, the time-varying output formation issue of heterogeneous multiagent systems is investigated by the event-triggered control scheme. Only the outputs of all agents, including leader agent and follower agents, are measurable. The leader agent contains an unknown input signal to generate flexible reference trajectory. Also, only a subset of follower agents have the direct access to the leader agent. First, for each follower, the leader-state compensator is designed to estimate the state of leader. Two kinds of dynamic event-triggered (DET) mechanisms, i.e., node- and edge-based event-triggered schemes, can be equipped on the compensator to save the communication bandwidth of leader-follower and follower-follower interactions, respectively. Then, the distributed formation controller is built to drive each follower achieving formation tracking. The presented control protocol consisting of the DET state compensator and formation controller is fully distributed, which is independent of the global information of communication topology, such as the eigenvalues of Laplacian matrix of communication topology and amount of whole agents. Finally, the numerical experiments and comparison experiments are exhibited to verify the effectiveness of the presented control protocol.

关键词： protocols Topology Trajectory Shape Multi-agent systems Interference Eigenvalues and eigenfunctions Adaptive control dynamic event-triggered (DET) control fully distributed protocol heterogeneous multiagent system (MAS) MAS time-varying formation (TVF) control

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Event-based formation control of heterogeneous multiagent systems with leader agent of nonzero input

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INFORMATION SCIENCES 2022年 598卷 157-181页

作者： Song, Weizhao Feng, Jian Zhang, Huaguang Hu, Xu Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Liaoning Peoples R China

In this paper, the fully distributed event-triggered time-varying formation control of heterogeneous linear multiagent systems is studied. To make the reference trajectory controllable and flexible, the bounded input is introduced to leader agent. The intention of this paper is to decrease the unnecessary information transmission of agents via communication topology by designing the intermittent transmission control protocol. Firstly, the adaptive state compensator is designed to evaluate the state information of leader agent based on the estimation value of leader state and two kinds of event-triggered mechanisms. Then, two types of output-feedback time-varying formation controllers are presented based on different formation feasible conditions. By theoretical analysis, the estimation error of event-triggered state compensator is proved to be uniformly ultimately bounded and the event-triggered mechanisms prevent Zeno behavior, and the formation tracking errors converge to the small region of zero. Finally, some simulation experiments are provided to support the theoretical results.(c) 2022 Elsevier Inc. All rights reserved.

关键词： Multiagent system Time-varying formation control Adaptive control Event-triggered control fully distributed protocol

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