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observer-based edge-consensus for fractional-order uncertain nodal networks with positive constraint

NEUROCOMPUTING 2025年 622卷

作者： Ye, Yanyan Rong, Yanfang Sun, Yaping Su, Housheng Shkodyrev, Viacheslav P. Guangdong Univ Technol Sch Automat Guangdong Prov Key Lab Intelligent Decis & Coopera Guangzhou 510006 Peoples R China Guangdong Univ Technol Sch Automat Guangdong Hong Kong Joint Lab Intelligent Decis & Guangzhou 510006 Peoples R China Sichuan Univ Coll Elect & Informat Engn Chengdu 610065 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China Peter Great St Petersburg Polytech Univ Sch Cyber Phys Syst & Control Polytech Skaya 29 B St Petersburg 195251 Russia

The paper focuses on investigating the consensus problem of edges in nodal networks whose edges are depicted by fractional-order uncertain dynamics with positive constraint. An observer-based distributed edge-consensus protocol is built. based on fractional Laplace transform, positive system theory, and graph theory, some sufficient criteria are derived for the positive edge-consensus of fractional-order uncertain nodal networks with the order belonging to (0, 1] under a directed graph. Furthermore, a sufficient edge-consensus criterion for the system in an undirected graph, only relying on the count of nodes and edges, is derived. What is more, a necessary and sufficient criterion is given for the positive edge-consensus of nodal networks with certain fractional-order dynamics. Finally, a simulation example is provided to demonstrate the effectiveness of results.

关键词： Positive edge-consensus Fractional-order system Uncertain nodal network observer-based protocol

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Leader-follower consensus of nonlinear agricultural multiagents using distributed adaptive protocols

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ADVANCES IN MANUFACTURING 2023年 1-10页

作者： Qian, Yu-Chen Miao, Zhong-Hua Zhou, Jin Zhu, Xiao-Jin Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200444 Peoples R China

Agricultural multi-agent systems are expected to be fundamental to future intelligent agriculture and digital farming. This study deals with agricultural multirobots from the perspective of the control algorithm, and adaptive leader-following consensus protocol design problems are resolved for nonlinear multiagent systems. A fully distributed edge-based strategy adaptive law is discussed herein;thus, the multiagent consensus can be implemented without knowing global information. Unlike methodologies in existing literature on nonlinear consensus, the proposed methodology is considerably less conservative because of the incremental quadratic constraint containing a wider variety of nonlinearities. This means that, utilizing an incremental multiplier matrix with appropriate values, the control scheme can be applied to a broader class of nonlinear multi-agent systems, which is applicable to more agricultural fields. Finally, a numerical example consisting of six followers and one leader is provided to demonstrate the validity and effectiveness of the proposed protocol under a directed network.

关键词： Multiagent consensus control Distributed adaptive protocols Incrementally quadratic nonlinearity observer-based protocol Agriculture robots

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Distributed time-varying group formation control for generic linear systems with observer-based protocols

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NEUROCOMPUTING 2020年 397卷 244-252页

作者： Li, Man Ma, Qichao Zhou, Chongjian Qin, Jiahu Kang, Yu Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China Univ Sci & Technol China Inst Adv Technol State Key Lab Fire Sci Hefei 230027 Peoples R China Chinese Acad Sci Key Lab Technol Geospatial Informat Proc & Applic Beijing 100190 Peoples R China

In this paper, the time-varying group formation control for linear multi-agent systems under directed communication topology is investigated from an observer viewpoint. Different from the existing works on the time-varying group formation, the groups herein could have a cyclic partition, which is more common in real applications than the topology with the acyclic groups. The leaderless time-varying group formation problem is studied first. An observer-based distributed protocol is presented for each agent, where the observer is used to estimate the unmeasurable state utilizing the output information. Then, to broaden the scope of applications, we further study the leader-following case, in which there exists a leader with nonzero and bounded input for each subgroup. To tackle this problem, we take the input of the leader as a disturbance, and develop the new forms of control protocols with nonlinear functions. Furthermore, for both cases, it is shown that under the formation feasible conditions, the desired time-varying group formation can be achieved if the strong enough intra-group coupling is selected and the corresponding digraph of each subgraph contains a directed spanning tree. Finally, two simulation examples are given. (C) 2020 Published by Elsevier B.V.

关键词： Time-varying group formation Multi-agent systems Generic linear dynamics observer-based protocol

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observer-based Time-Varying Formation Control of Fractional-Order Multi-Agent Systems With General Linear Dynamics

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2020年第1期67卷 82-86页

作者： Gong, Yufei Wen, Guoguang Peng, Zhaoxia Huang, Tingwen Chen, Yiwen Beijing Jiaotong Univ Dept Math Beijing 100044 Peoples R China Beihang Univ Sch Transportat Sci & Engn Beijing 100191 Peoples R China Texas A&M Univ Qatar Sci Program Doha 23874 Qatar

This brief addresses the time-varying formation control (TVFC) problem for fractional-order multi-agent systems (MASs) with general linear dynamics under fixed and switching directed interaction topologies respectively, where the fractional-order alpha satisfies a general condition of alpha is an element of (0, n]. Considering only the output information are available, the observer-based distributed control protocols are proposed to realize TVFC. By a class of linear transformations, the TVFC problem converts into the asymptotical stability problem of a new system. Sufficient conditions for fractional-order MASs are derived by employing the stability theory of fractional-order systems, matrix theory, algebraic graph theory, Laplace transformation, and Mittag-Leffler function. Finally, two numerical simulations are presented to validate the theoretical analysis.

关键词： Multi-agent systems time-varying formation control fractional-order observer-based protocol

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observer-based consensus for multi-agent systems with partial adaptive dynamic protocols

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NONLINEAR ANALYSIS-HYBRID SYSTEMS 2019年 34卷 58-73页

作者： Yu, Zhiyong Yu, Shuzhen Jiang, Haijun Hu, Cheng Xinjiang Univ Coll Math & Syst Sci Urumqi 830046 Peoples R China

This paper studies the consensus of multi-agent systems with linear and nonlinear dynamics, respectively. based on a reordering scheme and the relative outputs of agents, two kinds of observer-based distributed control protocols are constructed, in which only the weights in the directed spanning tree need to be updated continuously. Randomly choosing a directed spanning tree and using the developed distributed adaptive laws, one can see that the consensus can be achieved under some mild assumptions on agents' intrinsic dynamics. Finally, two examples are presented to illustrate the theoretical analysis. (C) 2019 Elsevier Ltd. All rights reserved.

关键词： observer-based protocol Consensus Directed spanning tree Multi-agent systems

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observer-based Distributed Time-Varying Group Formation Control for Heterogeneous Linear Systems under Directed Topology 4

Observer-Based Distributed Time-Varying Group Formation Cont...

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4th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Zhou, Chongjian Li, Man Fu, Weiming Kang, Yu Qin, Jiahu Univ Sci & Technol China Dept Automat Hefei 230027 Peoples R China Univ Sci & Technol China State Key Lab Fire Sci Hefei 230027 Peoples R China Univ Sci & Technol China Inst Adv Technol Hefei 230027 Peoples R China Chinese Acad Sci Key Lab Technol Geospatial Informat Proc & Applic Beijing 100190 Peoples R China

ISBN: (纸本)9781728100647

This paper investigates the time-varying group formation problem for heterogeneous linear systems under directed interaction topology from an observer viewpoint. Considering the situation where there have multiple time-varying sub-formations and all agents can only access their output. measurements directly, an observer-based distributed protocol is proposed for each agent to achieve the time-varying group formation where the observers are constructed to estimate the unmeasurable states. It is shown that the time-varying group formation control problem can be solved by selecting sufficiently large infra-group coupling gains if the communication topology of each subgroup has a spanning tree. Finally, simulation demonstrate the results.

关键词： Heterogeneous linear systems time-varying group formation observer-based protocol

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observer-based Positive Edge Consensus for Undirected Nodal Networks 38

Observer-Based Positive Edge Consensus for Undirected Nodal ...

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38th Chinese Control Conference (CCC)

作者： Qian, Yuchen Zhang, Wei Ji, Mingming Yan, Chenhang Shanghai Univ Engn Sci Lab Intelligent Control & Robot Shanghai 201620 Peoples R China

ISBN: (纸本)9789881563972

In this paper, the problem positive edge consensus of systems described by linear dynamics on undirected nodal networks is studied. A new observer-based distributed positive edge consensus control protocol is first proposed, which includes the classical Luenberger observer-based protocol as a special case. Moreover, in virtue of line graph theory and topological transformation, we can map the edge topology to the line topology such that the states of each edge in the connected networks can be demonstrated to be consistent. Finally, theoretical analysis and a simulation example are given to verify the effectiveness of the proposed positive edge consensus protocol.

关键词： positive edge consensus line graph observer-based protocol

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observer-based Consensus for Multiagent Systems Under Stochastic Sampling Mechanism

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2018年第12期48卷 2328-2338页

作者： Du, Sheng-Li Xia, Weiguo Ren, Wei Sun, Xi-Ming Wang, Wei Dalian Univ Technol Sch Control Sci & Engn Dalian 116024 Peoples R China Beijing Univ Technol Coll Automat Fac Informat Technol Beijing 100124 Peoples R China Univ Calif Riverside Dept Elect & Comp Engn Riverside CA 92521 USA King Abdulaziz Univ Ctr Excellence Intelligent Engn Jeddah 21589 Saudi Arabia

This paper is concerned with the consensus problem of general linear dynamic multiagent systems with stochastic sampling. In this paper, the sampling intervals randomly switch between two different values. The communication topology between agents is fixed and directed. Full-and reduced-order observers are designed based on neighbor agents' relative output information. The algorithms to construct such observers are also provided. By using the estimated states of the agents, the observer-based consensus protocol with stochastic sampling are presented. Sufficient conditions to ensure consensus in mean square are derived by using Lyapunov stability theory. Finally, simulations are given to examine the effectiveness of the proposed methods.

关键词： Multiagent system observer-based protocol stochastic sampling time delays

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observer-based Robust Coordinated Control of Multiagent Systems With Input Saturation

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2018年第5期29卷 1933-1946页

作者： Wang, Xiaoling Su, Housheng Chen, Michael Z. Q. Wang, Xiaofan Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Key Lab Syst Control & Informat Proc Minist Educ China Shanghai 200240 Peoples R China Huazhong Univ Sci & Technol Sch Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Hubei Peoples R China Univ Hong Kong Dept Mech Engn Hong Kong Hong Kong Peoples R China

This paper addresses the robust semiglobal coordinated control of multiple-input multiple-output multiagent systems with input saturation together with dead zone and input additive disturbance. observer-based coordinated control protocol is constructed, by combining the parameterized low-and-high-gain feedback technique and the high-gain observer design approach. It is shown that, under some mild assumptions on agents' intrinsic dynamics, the robust semiglobal consensus or robust semiglobal swarm can be approached for undirected connected multiagent systems. Then, specific guidelines on the selection of the low-gain parameter, the high-gain parameter, and the high-gain observer gain have been provided. At last, numerical simulations are presented to illustrate the theoretical results.

关键词： Input additive disturbance input saturation low-and-high-gain feedback technique multiagent system observer-based protocol

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observer-based Positive Edge Consensus for Undirected Nodal Networks

Observer-Based Positive Edge Consensus for Undirected Nodal ...

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第三十八届中国控制会议

作者： Yuchen Qian Wei Zhang Mingming Ji Chenhang Yan Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

关键词： positive edge consensus line graph observer-based protocol

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