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Output Formation Containment of Heterogeneous Singular Multiagent Systems Using adaptive protocols

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年第6期35卷 2156-2169页

作者： Liu, Xiaofan Sheng, Kai Yan, Yunyi Xidian Univ Sch Aerosp Sci & Technol Xian Peoples R China Xidian Univ Acad Adv Interdisciplinary Res Xian Peoples R China

In this study, the output formation containment control problem for heterogeneous singular multiagent systems is investigated. The purpose of this study is to drive the output of the leader agents to reach a time-varying formation and take containment action for the follower agents. First, a novel distributed adaptive protocol is designed that relies on the relative output information of agents without measuring and transmitting their states information. Then, the formation containment control problem can be simplified into an admissible analysis of coupled nonlinear singular systems by constructing a model transformation. The output formation control conditions related to the spectral radius of the weighted adjacency matrix are obtained based on the bounded real lemma and admissible analysis. In addition, the adaptive protocols based on the state of the virtual leader are proposed, which can drive the agents to achieve formation containment control more quickly when the state of the virtual leader is known. Finally, the simulation results verify the feasibility of the output formation containment control.

关键词： admissible analysis distributed adaptive protocol heterogenous singular multiagent systems output formation containment control

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distributed consensus protocol design for general linear multi-agent systems: a consensus region approach

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IET CONTROL THEORY AND APPLICATIONS 2014年第18期8卷 2145-2161页

作者： Li, Zhongkui Duan, Zhisheng Peking Univ Dept Mech & Engn Sci Coll Engn State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

This study presents a consensus region approach to designing distributed consensus protocols for multi-agent systems with general continuous-time linear node dynamics. The consensus region approach has a favourable decoupling feature, which decouples the design of the feedback gain matrices of the consensus protocols from the communication graph. Multi-step algorithms are presented to construct the fixed-gain consensus protocols, which requires the smallest non-zero eigenvalue of the Laplacian matrix. To remove this limitation, distributed adaptive protocols with time-varying coupling weights are designed for the cases with undirected and directed graphs, which can be implemented in a fully distributed fashion. The robustness issue of the adaptive protocols in the presence of external disturbances is also discussed. For the case where there exists a leader of bounded unknown control input, distributed discontinuous and continuous controllers are designed to solve the distributed tracking problem.

关键词： multi-agent systems distributed control continuous time systems time-varying systems directed graphs feedback distributed consensus protocol design general linear multi-agent system consensus region approach general continuous-time linear node dynamics feedback gain matrices multistep algorithm fixed-gain consensus protocol Laplacian matrix distributed adaptive protocol directed graph undirected graph distributed tracking problem

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Time-varying formation control for linear multi-agent systems with distributed adaptive protocols 28

Time-varying formation control for linear multi-agent system...

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28th Chinese Control and Decision Conference

作者： Wang, Rui Dong, Xiwang Li, Qingdong Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781467397148

distributed time-varying formation control problems are considered for general high-order linear time-invariant multiagent systems using an adaptive based approach with undirected interaction topology. Based on relative neighboring state information, by distributing each node a time-varying coupling weight, a distributed adaptive control protocol is proposed for achieving time-varying formation. A set of the feasible time-varying formation constraint is given. It is revealed that the formation can be specified by piecewise continuously differentiable vectors, under the distributed adaptive formation control protocol, and no global information about the interaction topology is required. Then an algorithm is presented to determine the distributed adaptive formation control protocol. On the basis of the Lyapunov theory, the stability of the algorithm is investigated. A numerical simulation example is finally given to verify the theoretical results.

关键词： Time-varying formation control distributed adaptive protocol High-order dynamics Multi-agent systems

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distributed adaptive Formation Control for Linear Swarm Systems With Time-Varying Formation and Switching Topologies

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IEEE ACCESS 2016年 4卷 8995-9004页

作者： Wang, Rui Dong, Xiwang Li, Qingdong Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China

In this paper, distributed time-varying formation (TVF) control problems for general linear swarm systems with switching interaction topologies are investigated using an adaptive dynamic protocol. First, a TVF control protocol for switching interaction topologies is constructed using the states of neighboring agents. In the protocol, an adaptive controller that employs gain scheduling technique is provided to estimate the coupling weights among agents. Compared with the previous studies on formation control, the desired formation can be specified by piecewise continuously time-varying differentiable vectors, the interaction topology can be switching, and the disadvantage of requiring global information of the interaction topologies is removed in this paper. Then, an algorithm including a feasible formation condition is proposed to determine the gain matrices of the distributed adaptive formation protocol by solving a linear matrix inequality for swarm systems with switching interaction topologies. Moreover, under the designed distributed adaptive formation protocol, sufficient condition for general linear swarm systems with switching interaction topologies to achieve the given TVF is derived using the Lyapunov theory. Finally, numerical simulations are presented to demonstrate the obtained results.

关键词： distributed adaptive protocol time-varying formation switching interaction topology swarm systems general linear dynamics

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distributed Fault-Tolerant Voltage/Frequency Synchronization in Autonomous AC Microgrids

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IEEE TRANSACTIONS ON POWER SYSTEMS 2020年第5期35卷 3774-3789页

作者： Afshari, Amir Karrari, Mehdi Baghaee, Hamid Reza Gharehpetian, Gevork B. Amirkabir Univ Technol Dept Elect Engn Tehran 158754413 Iran

This paper proposes two new distributed faulttolerant control (FTC) algorithms for the restoration of voltage and frequency in autonomous inverter-interfaced AC microgrids (MGs). The proposed control schemes give fault-tolerance capability to the system against different potential faults in sensors and actuators. In the first algorithm, a distributed adaptive fault-tolerant method is employed to compensate for the potential sensor faults. Then, to address both sensor and actuator faults simultaneously, a distributed H-infinity protocol is employed to guarantee the voltage and frequency synchronization for the closed-loop system. In the design of these algorithms, there is no need to know the amplitude or any quantitative information about fault signals. Additionally, there is no restriction on the number of faulty units. Finally, to evaluate the performance of the proposed distributed cooperative fault-tolerant control algorithms, simulation studies are carried out on a test MG system, including several distributed generation (DG) units in MATLAB/Simulink environment and also the results are compared with several previously-reported methods. Simulation results and comparison with previous works reveal the effectiveness and accuracy of the proposed method in regulating MG voltage and frequency and providing accurate proportional active power-sharing.

关键词： Actuator faults distributed adaptive protocol distributed H-infinity protocol distributed secondary fault-tolerant control sensor faults

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distributed Time-Varying Formation Control for Linear Swarm Systems With Switching Topologies Using an adaptive Output-Feedback Approach

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2019年第12期49卷 2664-2675页

作者： Wang, Rui Dong, Xiwang Li, Qingdong Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China

Fully distributed time-varying formation (TVF) control problems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with fixed and switching topologies. In contrast to the earlier results on formation control problems, the general linear swarm system can achieve the predefined TVF using only local output information and independent of the Laplacian matrix associated with the communication topologies. The implementation cost of calculating the global information and requiring full state information is avoided when achieving the desired TVF. First, a node-based TVF control protocol is constructed via dynamic output feedback for the case with fixed communication topology, where adaptive-based coupling weights are introduced to eliminate the dependence on the global information about the topology. Then an algorithm is presented to determine the gain matrices in the node-based adaptive TVF control protocol, and a feasible formation constraint is provided. The stability of the algorithm is proved based on the Lyapunov theory. Furthermore, under the case of switching communication topologies, an edge-based TVF control protocol is constructed with dynamic output feedback and an adaptive law for adjusting the coupling weights among agents. A sufficient condition is derived using the common Lyapunov theory for general linear swarm systems to achieve the predefined TVF satisfying the feasible formation constraint. Two numerical examples are presented to illustrate the theoretical results.

关键词： distributed adaptive protocol output feedback approach swarm systems switching communication topology time-varying formation (TVF)

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Scaled consensus of second-order multiagent systems via distributed adaptive control

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2021年第9期31卷 4247-4261页

作者： He, Wangli Guo, Hualiang Qian, Feng East China Univ Sci & Technol Minist Educ Key Lab Smart Mfg Energy Chem Proc Shanghai 200237 Peoples R China

This article investigates scaled consensus of second-order multiagent systems (MASs) via distributed adaptive control. Two distributed adaptive scaled consensus protocols are proposed. First, to solve the dynamic scaled consensus problem, based on the neighbors' position and velocity information, two time-varying coupling gains are introduced into the node-based distributed adaptive protocol. Second, static scaled consensus is discussed under another distributed adaptive algorithm. It is shown proposed scaled consensus protocols are flexible, which are able to solve standard consensus, group consensus, and bipartite consensus problems with specific scale values. Finally, two examples of robot formation with nine agents are given to verify the effectiveness of the theoretical analysis.

关键词： distributed adaptive protocol scaled consensus second‐ order multiagent systems

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adaptive leader-following consensus control of multi-agent systems using model reference adaptive control approach

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IET CONTROL THEORY AND APPLICATIONS 2012年第13期6卷 2002-2008页

作者： Liu, Y. Jia, Y. Beihang Univ BUAA Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Dept Syst & Control Key Lab Math Informat & Behav Semant LMIB Minist EducSMSS Beijing 100191 Peoples R China

This study is devoted to the adaptive consensus problem of multi-agent systems with partly unknown parameters and bounded external disturbances, under the guidance of an active leader with a reference input signal. Firstly, a distributed adaptive protocol is proposed for the system without disturbances by adopting the model reference adaptive control method. Then it is extended to the disturbed system by adding an adaptive disturbance compensator, based on the estimated upper and lower bounds of unknown disturbance. For the above two cases, sufficient conditions are, respectively, given to ensure that all agents can eventually track the prescribed leader. A numerical simulation illustrates the effectiveness of the proposed adaptive consensus protocol.

关键词： multiagent systems model reference adaptive control approach adaptive disturbance compensator multi-robot systems distributed control model reference adaptive control systems Self-adjusting control systems Expert systems and other AI software and techniques sufficient conditions Robotics multi-agent systems disturbed system adaptive leader-following consensus control distributed adaptive protocol

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Time-varying formation control for linear multi-agent systems with distributed adaptive protocols

Time-varying formation control for linear multi-agent system...

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第28届中国控制与决策会议

作者： Rui Wang Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Beihang University

ISBN: (纸本)9781467397155

distributed time-varying formation control problems are considered for general high-order linear time-invariant multiagent systems using an adaptive based approach with undirected interaction *** on relative neighboring state information,by distributing each node a time-varying coupling weight,a distributed adaptive control protocol is proposed for achieving time-varying formation.A set of the feasible time-varying formation constraint is *** is revealed that the formation can be specified by piecewise continuously differentiable vectors,under the distributed adaptive formation control protocol,and no global information about the interaction topology is *** an algorithm is presented to determine the distributed adaptive formation control *** the basis of the Lyapunov theory,the stability of the algorithm is investigated.A numerical simulation example is finally given to verify the theoretical results.

关键词： Time-varying formation control distributed adaptive protocol High-order dynamics Multi-agent systems

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Fully distributed Output-feedback Time-varying Formation Tracking Control for Second-order Nonlinear Multi-agent Systems with Switching Directed Topologies 37

Fully Distributed Output-feedback Time-varying Formation Tra...

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37th Chinese Control Conference (CCC)

作者： Wang Rui Dong Xiwang Li Qingdong Ren Zhang Beihang Univ Sch Automat Sci & Elect Engn Sci & Technol Aircraft Control Lab Beijing 100191 Peoples R China

ISBN: (纸本)9789881563958

This paper studies fully distributed time-varying formation (TVF) tracking control problems for second-order nonlinear multi agent systems (MASS) with only output-feedback information and switching directed topologies. Compared with the existing work on formation tracking control problems, the states of followers are required to form a given TVF while tracking the states of the leader and no global information about the switching directed topologies is used in achieving the TVF. Based on an extra observer, an adaptive output-feedback formation tracking controller is constructed for second-order nonlinear MASs with switching directed topologies to achieve the given TVF. Then, a fully distributed algorithm is proposed to determine the parameters in the adaptive formation tracking controller. Moreover, a sufficient condition for achieving the desired TVF tracking under the designed adaptive output-feedback TVF tracking controller is derived based on the Lyapunov theory. Finally, a simulation example is presented to illustrate the obtained results.

关键词： Time-varying formation tracking control distributed adaptive protocol Switching Directed interaction topologies Output feedback information Multi-agent systems

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