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distributed Event-Triggered consensus for Multiple Underactuated Systems Under Markovian Switching Topologies

ASIAN JOURNAL OF control 2020年第1期22卷 590-599页

作者： Zhou, Zhen Wang, Hongbin Hu, Zhongquan Ge, Shungang Yanshan Univ Key Lab Ind Comp Control Engn Qinhuangdao 066004 Hebei Peoples R China

This paper presents a distributed consensus algorithm that employs event-triggered communication for multiple underactuated systems under Markovian switching topologies. Instead of the general stochastic topology, the graph of the entire system is governed by a set of Markov chains to the edges, which can recover the general Markovian switching topologies in line with the practical communication network. By utilizing integral sliding mode control strategy, rigorous analysis of the asymptotic convergence results has been performed through graph theory and Lyapunov stability theory. An event-triggered communication law is provided for each agent and Zeno behavior of triggering time sequences is excluded. It will yield to the very first application of the multiple underactuated systems, in which the system states could be enforced to track the leader. Finally, the illustrative simulations on six underactuated two-link manipulators are given to demonstrate the effectiveness of theoretical results.

关键词： Multiple underactuated systems markovian switching topologies event-triggered communication distributed consensus control integral sliding mode control

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Predefined-time leader-following consensus for nonholonomic chained-form multiagent dynamic systems

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2021年第14期52卷 2875-2888页

作者： Liang, Dengyu Wang, Chaoli Xu, Yujing Li, Yu Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China

In addition to stability and accuracy, rapidity is another important index of the performance of control systems. The current fixed time design cannot meet the requirement for rapidity. The design to meet this requirement must be such that the settling time can be given in advance, that is, the so-called predefined-time design. This paper deals with the predefined-time consensus problem for a class of nonholonomic chained-form multiagent dynamic systems with unknown disturbances. First, a distributed observer for each follower is investigated such that the leader state can be estimated by the followers in a predefined time. Based on this observer, a switching consensus tracking controller is proposed to ensure that the tracking errors converge to zero within a predefined time. Compared with the existing finite-time and fixed-time schemes, the upper bound of the settling time is an directly tunable control parameter, and the settling time can be easily tuned by the control parameter. The stability of the closed-loop system is proved by the Lyapunov method. A simulation example of wheeled mobile robots is performed to demonstrate the effectiveness of the proposed controllers.

关键词： distributed consensus control predefined-time control chained-form systems multiagent systems

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Dynamic Spectrum Sensing Under Crash and Byzantine Failure Environments for distributed Convergence in Cognitive Radio Networks

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IEEE ACCESS 2021年 9卷 23153-23167页

作者： Mustafa, Ali Ul Islam, Muhammad Najam Ahmed, Salman Bahria Univ Dept Elect Engn Islamabad 44000 Pakistan COMSATS Univ Islamabad Dept Elect & Comp Engn Attock 43600 Pakistan Univ Engn & Technol Dept Comp Syst Engn Peshawar 25000 Pakistan

In cognitive networks, efficient spectrum sensing is of great importance for communication of unlicensed secondary users (SU) without interfering with the communication of licensed primary users (PU). Such spectrum sensing requires robust and reliable communication between the SUs to sense the spectrum efficiently under different network circumstances and to make a quick decision for the data transmission. In this paper, we are proposing a decentralized cooperative algorithm for efficient sensing of spectrum in the networked cognitive radios. The proposed algorithm is investigated under crash and Byzantine failure environments to study their behavior and efficiency for consensus. Energy detector module is modeled for each cooperating SU in cognitive radio network for sensing the presence of PU in a dedicated spectrum. Moreover, SU is modeled as agents connected through undirected graphs to simulate communication among them related to the spectrum availability. Multiple simulation scenarios, based on autonomous SU using the proposed distributed consensus algorithm are presented to demonstrate the theoretical development of proposed algorithm to be visualized in real scenarios. The simulation results reveal that the proposed method provides a significant improvement in convergence rate, reliability, and in terms of various key performance indicators.

关键词： Sensors Cognitive radio Receivers consensus algorithm Fading channels Convergence Wireless sensor networks Multi-agent systems energy model distributed estimation unreliable communication distributed consensus control crash and Byzantine failure cognitive radios spectrum sensing

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Practical output consensus control of uncertain nonlinear multi-agent systems without using the higher-order states of neighbours

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IET control THEORY AND APPLICATIONS 2021年第8期15卷 1091-1103页

作者： Wang, Gang Wang, Chaoli Ji, Yunfeng Li, Qingdu Univ Shanghai Sci & Technol Inst Machine Intelligence Shanghai 200093 Peoples R China Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China Chongqing Univ Posts & Telecommun Ctr Anal & Control Complex Syst Chongqing 400065 Peoples R China

Currently, most existing consensus methods require each agent to access the higher-order states of its neighbouring agents, thereby increasing communication and computation costs in a multi-agent system. This work considers the practical consensus problem without such requirements for multi-agent systems in a strict-feedback form. Specifically, this study addresses the distributed control problem with asymmetric time-varying output constraints under a general communication topology that contains a directed spanning tree. One salient feature of this work is to present a new dynamic reference output for dealing with both the directed topology and the satisfaction of the output constraints. Based on this reference output, a distributed consensus scheme is developed such that each agent utilizes only its states and the output information of its neighbours to update the control input. The proposed method is straightforward to implement because the complex analytic computation of the derivatives of the virtual controllers is not needed. Theoretical and simulation verifications of the proposed scheme, ensuring that output consensus can be achieved without violation of the constraints and that all closed-loop signals remain bounded, are rigorously studied.

关键词： adaptive control distributed consensus control higher‐ order nonlinear systems multi‐ agent systems

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consensus control of Multi-Agent Systems With Two-Way Switching Directed Topology 3rd

Consensus Control of Multi-Agent Systems With Two-Way Switch...

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3rd IFAC Workshop pn Cyber-Physical and Human Systems (CPHS)

作者： Wang, Xin Wei, Qinglai Song, Ruizhuo Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing Peoples R China

In this paper, a novel control protocol method is developed to solve distributed consensus control problems for multi-agent systems with switching directed topologies. Because of the external disturbance, the information cannot transmit completely so that the proposition of two-way topology is necessary. Besides, the external disturbance is considered naturally and we give a control protocol and parameters of noise intensity function in this paper. Furthermore, an example is given to support the proposed theorem. Finally, the simulation results prove the correctness of the theory. Copyright (C) 2020 The Authors.

关键词： distributed consensus control multi agent systems two way topology fixed and switching directed topologies

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Two-Dimensional Impedance-Shaping control With Enhanced Harmonic Power Sharing for Inverter-Based Microgrids

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2019年第11期34卷 11407-11418页

作者： Qi, Yang Lin, Pengfeng Wang, Yu Tang, Yi Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

In islanded microgrids, the harmonic power of nonlinear loads is distributed among parallel voltage source inverters (VSIs) according to the effective harmonic impedances, i.e., the sums of VSI output impedances and grid impedances. Since grid impedances are unknown and could be mismatched, VSI output impedances are usually reshaped to ensure the harmonic power sharing accuracy. However, as conventional techniques only regulate VSI output impedances in one dimension, only one degree of freedom is provided for the impedance shaping. It is revealed that such maneuvers can hardly fulfill the proper harmonic power sharing requirement under complex grid impedance situations. As a result, circulating harmonic currents will occur and produce additional power losses even if the total harmonic power has been accurately shared. To solve this problem, this paper proposes a two-dimensional impedance-shaping control, which can adaptively regulate VSI output resistances and inductances at the same time. The proposed control strategy requires no prior grid impedance knowledge and can eliminate the circulating harmonic currents for arbitrary grid impedances. Simulation and experimental results from an islanding microgrid prototype with three parallel VSIs are provided to validate the effectiveness of the proposed method.

关键词： distributed consensus control droop control harmonic power sharing impedance-shaping control islanded microgrid parallel inverters

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consensus control of Multi-Agent Systems With Two-Way Switching Directed Topology ⁎

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IFAC-PapersOnLine 2020年第5期53卷 669-674页

作者： Xin Wang Qinglai Wei Ruizhuo Song The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

关键词： distributed consensus control multi–agent systems two–way topology fixed switching directed topologies

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consensus-based Synchronization of Microgrids at Multiple Points of Interconnection

Consensus-based Synchronization of Microgrids at Multiple Po...

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IEEE-Power-and-Energy-Society General Meeting (PESGM)

作者： Shah, Shahil Sun, Hongbo Nikovski, Daniel Zhang, Jinyun Rensselaer Polytech Inst Troy NY 12180 USA Mitsubishi Elect Res Labs Cambridge MA 02139 USA

ISBN: (纸本)9781538677032

This paper presents a consensus-based distributed synchronization control method for microgrids with multiple points of interconnection. The proposed method can synchronize a microgrid at different points of interconnection using a common sparse communication network among its distributed generators. This functionality is critical for the networked operation of multiple microgrids in the future power systems. The proposed approach uses averaging and leader-follower modes of a commonly used consensus algorithm for multi-agent systems to achieve microgrid synchronization and smooth transition between the islanded and grid-connected modes at different interconnection points. The operation of the proposed distributed synchronization method is demonstrated on a microgrid with four inverters, each with an independent interconnection point to another microgrid or a bulk power system.

关键词： Synchronization microgrid control distributed generators secondary control distributed consensus control

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