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Chattering Free distributed Event-Triggered adaptive Attitude Synchronization of Multiple Spacecraft With Positive Minimum Interevent Times

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IEEE TRANSACTIONS ON control OF NETWORK SYSTEMS 2025年第1期12卷 374-386页

作者： Long, Jiang Wang, Wei Guo, Yangming Liu, Zun Northwestern Polytech Univ Sch Comp Sci Xian 710072 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Zhongguancun Lab Beijing 100191 Peoples R China Northwestern Polytech Univ Sch Cybersecur Xian 710072 Peoples R China

The attitude synchronization control problem of multiple uncertain spacecraft with event-triggered communication is an interesting research topic. However, the existing results are difficult to ensure the positive minimum interevent times (MIETs) while achieving asymptotic convergence performance. Besides, the drawback that the controllers of the spacecraft suffer from chattering may exist, due to the transmitted discontinuous neighbors' states. To overcome the difficulty and drawback, two novel distributed adaptive control strategies are presented under event-triggered communication condition. Specifically, we first consider the attitude synchronization convergence. To estimate the final synchronization value of the attitude while avoiding the undesirable chattering phenomenon of the controllers, a distributed attitude filter with event-triggered state transmission is presented for each spacecraft, which can generate a continuous reference signal for each spacecraft. To ensure the positive MIETs, a novel triggering condition is designed, by resorting to a clock-like variable. Based on the attitude filter and triggering condition, a distributed adaptive attitude synchronization control scheme is presented. Then, we further generalize the design idea to consider the attitude synchronization tracking of a stationary leader, where a distributed event-triggered adaptive attitude tracking control scheme is proposed. Finally, simulation results are provided to validate the effectiveness of the proposed control strategies.

关键词： Space vehicles Synchronization Attitude control Convergence Materials requirements planning control systems Vectors Attitude synchronization distributed adaptive control event-triggered communication spacecraft

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distributed adaptive leaderless output consensus of uncertain nonlinear multi-agent systems with heterogenous system orders☆

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AUTOMATICA 2025年 172卷

作者： Long, Jiang Wang, Wei Wen, Changyun Huang, Jiangshuai Guo, Yangming Northwestern Polytech Univ Sch Comp Sci Xian 710072 Shaanxi Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China Zhongguancun Lab Beijing 100191 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Nanyang Ave Singapore City 639798 Singapore Chongqing Univ Sch Automat Chongqing 400044 Peoples R China

This paper is concerned with the leaderless output consensus control problem for uncertain nonlinear multi-agent systems with mismatched unknown parameters. Different from currently available results, the considered agents are allowed to have heterogenous and arbitrary system orders. To solve such consensus problem, a novel distributed reference system, whose output serves as a local reference signal, is first designed for each agent. Then, under directed interaction topology condition, a fully distributed leaderless output consensus control scheme is proposed based on adaptive backstepping technique, by using only relative outputs of neighboring agents. It is shown that with the proposed control scheme, all the closed-loop signals are globally uniformly bounded and all the agents' outputs can reach consensus. Finally, an application example is utilized to verify the effectiveness of the proposed control scheme. (c) 2024 Published by Elsevier Ltd.

关键词： distributed adaptive control Heterogenous multi-agent systems Leaderless consensus

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distributed adaptive finite-time and fixed-time cluster synchronization of complex networks

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JOURNAL OF THE FRANKLIN INSTITUTE 2025年第3期362卷

作者： Zhang, Shikun Liu, Dan Cui, Xiaohong Zhou, Kun Wang, Binrui China Jiliang Univ Coll Mech & Elect Engn Hangzhou Zhejiang Peoples R China

This paper aims to study the finite-time (FNT) and fixed-time (FXT) cluster synchronization problems of complex networks (CNs). First, to ensure scalability of CNs, the adaptive laws are proposed to update coupling weights between neighboring nodes in same cluster. In this case, only local information is required instead of global one. Then, by designing the appropriate controllers and employing Lyapunov stable theory, several sufficient conditions are obtained to fulfill cluster synchronization in FNT and FXT. When the number of clusters is single, the general FNT and FXT synchronization are also investigated under distributed adaptive strategies. Finally, the theoretical results are verified by a numerical simulation example.

关键词： Cluster synchronization distributed adaptive control Complex networks Finite-time Fixed-time

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Frequency-Voltage Active Support Strategy for Hybrid Wind Farms Based on Grid-Following and Grid-Forming Hierarchical Subgroup control

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CSEE Journal of Power and Energy Systems 2025年第1期11卷 65-77页

作者： Haiyu Zhao Qihang Zong Hongyu Zhou Wei Yao Kangyi Sun Yuqing Zhou Jinyu Wen State Key Laboratory of Advanced Electromagnetic Technology School of Electrical and Electronics EngineeringHuazhong University of Science and TechnologyWuhan430074China

The GFL-GFM hybrid wind farm (HWF) combines the voltage source control advantages of grid-forming (GFM) wind turbines (WTs) with the current source control advantages of grid-following (GFL) wind turbines. It becomes a new type of large-scale grid-connected wind power generation. In this paper, we propose an HWF frequency-voltage active support based on GFL and GFM hierarchical subgroup control. It aims to realize the support of active power and reactive power under the premise of ensuring system stability. The strategy consists of the determination of the control objectives of the GFM-GFL subgroups, the distributed control (DC) of the GFM-GFL subgroups, and the adaptive control and switching of each unit of the GFM and GFL groups. The GFM-group maintains the grid-connected voltage stability and the GFL-group exhausts the active support. DC at the group level and adaptive control at the unit level are included under the hierarchy of the respective objectives. Finally, a GFL-GFM HWF model is established on the MATLAB/Simulink platform, and the simulation verifies that the proposed strategy can realize the enhancement of the frequency-voltage support capability of the HWF under the premise of grid-connected stability.

关键词： Active-reactive power coupling decoupling factor distributed adaptive control frequency-voltage active support GFL-GFM station GFL-GFM subgroup control

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Multi-Agent Fault-Tolerant control Based on distributed adaptive Consensus

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IEEE ACCESS 2019年 7卷 135882-135895页

作者： Zhang, Pu Xue, Huifeng Gao, Shan Northwestern Polytech Univ Sch Automat Xian 710129 Peoples R China

This paper proposes a distributed adaptive control approach based on consensus theory so that a multi-agent formation can still complete the task despite the local fault of the leader for the multi-agent formation system. The controlled object consists of four agents that form a triangle formation system, where one agent acts as the vertex of the triangle, and the remaining agents act as followers in a line. In addition, the speed of the leader is the forward direction of the formation, and the followers are behind the leader. Based on graph theory, the distributed adaptive updating of the agents local information parameters are conducted, and the distributed adaptive control law is used to supplement the influence of the leaders fault in the multi-agent formation. According to the local information of adjacent agents, an overall distributed adaptive fault-tolerant control law is designed, and the stability of the designed controller is proved by constructing the Lyapunov function. Meanwhile, the relative distance error between the horizontal direction and longitudinal direction of the leader-follower converge to zero. The simulation results show that the proposed adaptive control approach has good robustness, which provides a theoretical basis for engineering practice.

关键词： Fault tolerance Fault tolerant systems adaptive control Unmanned aerial vehicles Adaptation models Stability analysis Multi-agent fault-tolerant consensus distributed adaptive control leader-follower Lyapunov function

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distributed adaptive fault-tolerant control with prescribed performance for nonlinear multiagent systems

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2024年 138卷

作者： Lu, Li-Ting Zhu, Shan-Liang Wang, Dong-Mei Han, Yu-Qun Qingdao Univ Sci & Technol Sch Math & Phys Qingdao 266061 Peoples R China Qingdao Innovat Ctr Artificial Intelligence Ocean Qingdao 266061 Peoples R China Qingdao Univ Sci & Technol Res Inst Math & Interdisciplinary Sci Qingdao 266061 Peoples R China

This paper introduces a distributed adaptive fault-tolerant control scheme for nonlinear multi- agent systems afflicted by actuator failures. The proposed scheme ensures that the consensus- tracking errors of the systems meet the prescribed performance requirements. First, in the backstepping design process, a barrier function is constructed based on the proposed scalar function and normalization function to address the prescribed performance issue. Next, both multi-dimensional Taylor network (MTN) control and robust control techniques are utilized to address unknown nonlinear functions. Continuous switching functions are devised to transition from MTN control to robust control whenever the arguments of the unknown functions surpass the operating range of MTN. This effectively resolves the global problem of the system. Furthermore, a boundary estimation method is proposed to handle actuator failures that may occur infinitely. Stability analysis confirms that all signals in the closed-loop system are globally uniformly ultimately bounded. Additionally, the consensus-tracking errors can always be constrained within prescribed boundaries, achieving global convergence to a prescribed accuracy within a prescribed time. Users can flexibly and independently choose the desired settling time and accuracy, without being restricted by any initial conditions. Simulation results provide evidence of the efficacy of the proposed control method.

关键词： Actuator failures Prescribed performance control distributed adaptive control Multi-agent systems Multi-dimensional Taylor network

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distributed adaptive output consensus control of nonlinear strict-feedback systems using neural networks

Distributed adaptive output consensus control of nonlinear s...

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第28届中国控制与决策会议

作者： Gang Wang Chaoli Wang Weidong Xu Business School University of Shanghai for Science and Technology Department of Control Science and Engineering University of Shanghai for Science and Technology

ISBN: (纸本)9781467397155

In this paper,we address the output consensus problem of tracking a desired trajectory for a group of nonlinear strict-feedback subsystems over a directed graph with a fixed *** subsystem is modeled by a higher-order nonlinear system with unknown nonlinear *** a subset of the subsystems is given direct access to the desired trajectory information.A distributed adaptive consensus protocol driving each subsystem to track the desired trajectory is presented using the backstepping technique and neural networks(NN).The Lyapunov theory is applied to guarantee that all signals in the closed loop system are uniformly ultimately bounded and that all subsystems' outputs synchronize to the desired trajectory with bounded residual *** is also demonstrated that arbitrary small tracking errors can be achieved by appropriately choosing design *** results validate the effectiveness of the proposed methods.

关键词： Output consensus distributed adaptive control Backstepping control Neural networks

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distributed adaptive Output Feedback control of Uncertain Multi-Agent Systems with Actuator Faults and Communication Delays

Distributed Adaptive Output Feedback Control of Uncertain Mu...

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第28届中国控制与决策会议

作者： Wei Wang Changyun Wen Jiangshuai Huang School of Automation Science and Electrical Engineering Beihang University School of Electrical and Electronic Engineering Nanyang Technological University Department of Electrical and Computer Engineering National University of Singapore

ISBN: (纸本)9781467397155

In this paper,a distributed adaptive output feedback control scheme is proposed to solve output consensus regulation problem of multi-agent systems with parameter uncertainties and loss of effectiveness type of actuator *** suppose that i) only a subset of the subsystems can access the desired set value directly,ii) the communication conditions among all the subsystems are represented by a directed graph,where a constant unknown delay exists between every two connected *** on only output and input information collected from its neighbors,external estimators can be designed in each subsystem to effectively account for the unmeasurable states and unknown parameters involved in its neighboring subsystems’ *** choosing appropriate Lyapunov-Krasovskii function,the effects due to unknown constant communication delays can be *** is shown that all the closed-loop signals are globally uniformly bounded and all the subsystem outputs will be regulated to the set-point asymptotically.

关键词： distributed adaptive control Output feedback Consensus Actuator faults Communication delays

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distributed adaptive finite-time formation control of multiple UAV helicopter system

Distributed adaptive finite-time formation control of multip...

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第37届中国控制会议

作者： Dandan Wang Qun Zong Boyuan Zhang School of Electrical Engineering and Automation Tianjin University

This paper investigates distributed finite-time formation control(FFDFC) with local information change for multiple unmanned aerial vehicle(UAV) helicopter system with disturbances. The UAV helicopter system is composed by position outerloop and attitude inner-loop. We introduce an adaptive finite-time formation controller that takes into account motions of the information states. Unlike the existing distributed protocols, we show that the finite-time convergence properties is proved by Lyapunov theory. Moreover, the control algorithm removes the global information that needs to be known by each follower in advance in many references. Simulation results are presented to demonstrate the efficiency of the designed strategy.

关键词： Formation control Finite-time control distributed adaptive control UAV helicopters

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distributed adaptive Fault-tolerant Formation control of Uncertain Nonholonomic Mobile Robots

Distributed Adaptive Fault-tolerant Formation Control of Unc...

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第33届中国控制与决策会议

作者： Zhen Han Wei Wang Huijin Fan School of Automation Science and Electrical Engineering Beihang University Department of Control Science and Engineering Huazhong University of Science and Technology

In this paper,the distributed adaptive fault-tolerant formation control problem is investigated for a group of nonholonomic mobile robots(NMRs).The communication flow is described by a digraph and it is supposed that only a subset of the NMRs has direct access to the common desired ***,the actuators of each NMR may suffer from intermittent type of actuator *** estimate the unknown trajectory information and topology parameters,distributed estimators are proposed based on the neighboring available *** addition,estimators are also introduced to estimate the lower bounds of the actuator fault *** on the estimation values and Young's inequality,nonlinear damping terms are ***,a novel fault-tolerant control scheme is proposed by applying the adaptive backstepping *** is guaranteed that the formation errors will converge to an adjustable compact set and the control inputs are globally uniformly *** results validate the effectiveness of the proposed control scheme.

关键词： Fault-tolerant distributed adaptive control Formation Nonholonomic mobile robots

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