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Event-Triggered-Based distributed consensus tracking for Nonlinear Multiagent Systems With Quantization

IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2024年第2期35卷 1501-1511页

作者： Zhang, Jing Liu, Shuai Zhang, Xianfu Xia, Jianwei Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Liaocheng Univ Sch Math Sci Liaocheng 252000 Shandong Peoples R China

In this article, an observer-based adaptive neural network (NN) event-triggered distributed consensus tracking problem is investigated for nonlinear multiagent systems with quantization. In the first place, the limited capacity of the communication channel between agents is considered. The event-trigger mechanism and dynamic uniform quantizers are set up to reduce information transmission. The next NN is utilized to handle the unknown nonlinear functions. Finally, in order to estimate the unmeasurable states, an NN-based state observer is designed for each agent by using a dynamic gain function. To settle the difficulty caused by the coupling effects of event-triggered conditions and the scaling function in dynamic uniform quantizers and observers, a distributed control protocol with estimated information of its neighbors is designed, which ensures distributed consensus tracking of the nonlinear multiagent systems without incurring the Zeno behavior. The effectiveness of the control protocol is illustrated by a simulation example.

关键词： Artificial neural networks Multi-agent systems Quantization (signal) Observers Protocols Topology Nonlinear dynamical systems distributed consensus tracking dynamic gain function dynamic uniform quantizer event-trigger mechanism neural network (NN) nonlinear multiagent systems

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distributed consensus tracking of Networked Agent Systems Under Denial-of-Service Attacks

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2021年第10期51卷 6183-6196页

作者： Wan, Ying Wen, Guanghui Yu, Xinghuo Huang, Tingwen Southeast Univ Sch Math Nanjing 210096 Peoples R China RMIT Univ Sch Engn Melbourne Vic 3001 Australia Texas A&M Univ Qatar Sci Program Doha Qatar

distributed consensus tracking problem of networked agent systems with directed topologies under denial-of-service (DoS) attacks is investigated. The considered networked agent network consists of a physical layer with fixed physical links and a cyber layer with cyber control units. Both the communication network connecting these two layers and the cyber communication network within the cyber layer may subject to malicious DoS attacks. These two types of attacks have different impacts on the networked system;the former one affects the timely update of control inputs, and the latter influences the connection weights of the cyber communication graph. First, for DoS signals occurring in the communication network which transmits the state and control input information between the two layers, the distributed control protocol based on the event-triggered scheme and locally deployed estimators are designed. Efficient algorithms for selecting event-triggered control parameters and Zeno-free triggered parameters are given to ensure the mean-square consensus. The relationships between the system's parameters and the features of DoS attacks are successfully revealed. Second, corresponding theoretical analysis is derived for consensus tracking of the networked systems when DoS attacks are launched within the cyber layer. Conditions concerning the length of repairing time and indexes of DoS attacks are given by utilizing hybrid control theory. At last, the effectiveness of the obtained results is demonstrated by performing simulations on multirobot systems.

关键词： Denial-of-service attack Linear matrix inequalities Symmetric matrices Physical layer Communication networks Control systems Multi-agent systems Cyber-physical system (CPS) denial-of-service (DoS) attacks distributed consensus tracking event-triggered control networked system

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distributed consensus tracking of unknown nonlinear chaotic delayed fractional-order multi-agent systems with external disturbances based on ABC algorithm

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2019年 71卷 101-117页

作者： Hu, Wei Wen, Guoguang Rahmani, Ahmed Yu, Yongguang Cent Lille UMR CNRS 9189 CRIStAL F-59651 Villeneuve Dascq France Beijing Jiaotong Univ Sch Sci Beijing 100044 Peoples R China

In this paper, the distributed consensus tracking of unknown nonlinear chaotic delayed fractional-order multi-agent systems (FOMASs) with external disturbances is investigated, where the fractional orders and system parameters are unknown. Firstly, in order to identify the unknown parameters of the delayed nonlinear FOMASs, an efficient artificial bee colony algorithm (ABC)-based parameters estimation approach is put forward. Secondly, based on the estimated parameters, by using fractional derivative inequality and comparison principle of linear fractional equation with delay, a discontinuous distributed control protocol is proposed to make the tracking errors converge to zero asymptotically. Thirdly, to overcome the undesirable chattering phenomenon caused by the discontinuous controller, a continuous distributed control algorithm is further designed and uniformly ultimately bounded (UUB) tracking errors can be obtained and reduced as small as desired. Finally, numerical simulations are given to test the effectiveness of the proposed parameters estimation scheme and the deigned control algorithms. (C) 2018 Elsevier B.V. All rights reserved.

关键词： distributed consensus tracking Delayed fractional-order multi-agent systems External disturbances Artificial bee colony algorithm

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Approximation-free design for distributed consensus tracking of networked uncertain non-linear multi-agent systems with heterogenous high powers

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IET CONTROL THEORY AND APPLICATIONS 2020年第14期14卷 1975-1988页

作者： Yoo, Sung Jin Chung Ang Univ Sch Elect & Elect Engn 84 Heukseok Ro Seoul 06974 South Korea

This study investigates a distributed approximation-free design problem for guaranteed consensus tracking quality of networked uncertain heterogenous power-chained multi-agent systems with completely unknown non-linearities. Compared with the existing studies in the presence of power-chained state variables, the main contribution of this study is to provide a distributed low-complexity consensus tracker design strategy using only the relative output information among agents, without the use of adaptive neural or fuzzy function approximators for estimating unknown non-linear functions. A novel recursive design strategy independent of the feedback domination technique is established to deal with power-chained state variables under directed networks. Using the Lyapunov stability theorem, it is shown that the preselected performance of the consensus tracking error is ensured.

关键词： feedback nonlinear control systems stability multi-agent systems uncertain systems Lyapunov methods distributed control control system synthesis network theory (graphs) networked uncertain heterogenous power-chained multiagent systems nonlinear functions directed networks distributed consensus tracking networked uncertain nonlinear multiagent systems distributed approximation-free design problem recursive design strategy Lyapunov stability theorem

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distributed adaptive consensus tracking control for heterogeneous nonlinear multi-agent systems

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ISA TRANSACTIONS 2022年 130卷 177-183页

作者： He, Lei Dong, Wenhan Air Force Engn Univ Aviat Engn Sch Xian 710038 Peoples R China

In this study, our focus is to resolve the consensus problem of heterogeneous nonlinear multi-agent systems. As only some agents access reference information directly, the proposed distributed adaptive consensus controller uses only local information, by employing the command filtered backstepping approach. The uniform, ultimate boundedness of all closed-loop signals and the convergence of con-sensus tracking error to a small tunable compact set can be obtained using our proposed mechanism. Finally, the formation-tracking problem of nonholonomic unmanned aerial vehicles is solved with the suggested control algorithm. (c) 2022 ISA. Published by Elsevier Ltd. All rights reserved.

关键词： distributed consensus tracking Adaptive control Formation control Heterogeneous nonlinear multi -agent systems

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distributed consensus tracking for the fractional-order multi-agent systems based on the sliding mode control method

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NEUROCOMPUTING 2017年 235卷 210-216页

作者： Bai, Jing Wen, Guoguang Rahmani, Ahmed Yu, Yongguang Univ Sci & Technol Sch Math & Phys Beijing 100083 Peoples R China Beijing Jiaotong Univ Dept Math Beijing 100044 Peoples R China Ecole Ctr Lille CRIStAL UMR CNRS 9189 F-59651 Villeneuve Dascq France

distributed consensus tracking for the fractional-order multi-agent systems is mainly studied in this paper. Firstly, the simple Lyapunov candidate function is discussed to judge the validity of the proposed controlldr. Secondly, according to the sliding mode control method, a controller is designed to achieve the consensus tracking problem when the followers are described by the fractional-order linear dynamics. Thirdly, the case when the dynamics of followers own the intrinsic nonlinear function is discussed, it proves that the designed sliding mode controller is still valid for this case under the certain conditions. For the above two parts, the systems stabilities are judged based on the result of the first part. Finally, several simulations are presented to verify the obtained results.

关键词： distributed consensus tracking Lyapunov candidate function Fractional-order Sliding mode control

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Minimal-Approximation-Based distributed consensus tracking of a Class of Uncertain Nonlinear Multiagent Systems With Unknown Control Directions

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IEEE TRANSACTIONS ON CYBERNETICS 2017年第8期47卷 1994-2007页

作者： Choi, Yun Ho Yoo, Sung Jin Chung Ang Univ Sch Elect & Elect Engn Seoul 156756 South Korea

A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.

关键词： distributed consensus tracking minimal approximation unknown control directions unmatched nonlinearities

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Adaptive distributed consensus tracking control for uncertain nonlinear multi-agent systems in pure-feedback form 35

Adaptive distributed consensus tracking control for uncertai...

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35th Chinese Control Conference (CCC)

作者： Shi, Xiaocheng Xu, Shengyuan Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Jiangsu Peoples R China

ISBN: (纸本)9789881563910

This paper investigates an adaptive distributed consensus tracking problem of uncertain nonlinear multi-agent systems in pure-feedback form on a directed graph. The unknown continuous nonlinear functions induced from the controller design procedure are approximated by Radial basis function neural networks(RBFNNs). Based on the distributed dynamic surface control technique, the problem of "explosion of complexity" in the traditional backstepping design is eliminated by introducing a first-order filtering. Differing from the existing results in the literature, the proposed new design approach only needs one learning parameter to be updated on line for M pure-feedback nonlinear followers. It is also shown that the proposed consensus controllers can guarantee cooperatively semi-global uniform ultimate boundedness(CSUUB) of all the signals, and the consensus errors converge to an adjustable neighborhood of the origin.

关键词： distributed dynamic surface control Networked pure-feedback systems distributed consensus tracking Semi-global uniform ultimate boundedness

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Adaptive distributed consensus tracking control for uncertain nonlinear multi-agent systems in pure-feedback form

Adaptive distributed consensus tracking control for uncertai...

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第35届中国控制会议

作者： Xiaocheng Shi Shengyuan Xu School of Automation Nanjing University of Science and Technology

ISBN: (纸本)9781509009107

关键词： distributed dynamic surface control Networked pure-feedback systems distributed consensus tracking Semiglobal uniform ultimate boundedness

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Neural-Network-Based distributed Asynchronous Event-Triggered consensus tracking of a Class of Uncertain Nonlinear Multi-Agent Systems

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2022年第7期33卷 2965-2979页

作者： Choi, Yun Ho Yoo, Sung Jin Chung Ang Univ Sch Elect & Elect Engn Seoul 156756 South Korea

This article proposes a neural-network-based adaptive asynchronous event-triggered design strategy for the distributed consensus tracking of uncertain lower triangular nonlinear multi-agent systems under a directed network. Compared with the existing event-triggered recursive consensus tracking designs using multiple neural networks for each follower and continuous communications among followers, the primary contribution of this study is the development of an asynchronous event-triggered consensus tracking methodology based on a single-neural network for each follower under event-driven intermittent communications among followers. To this end, a distributed event-triggered estimator using neighbors' triggered output information is developed to estimate a leader signal. Subsequently, the estimated leader signal is used to design local trackers. Only a triggering law and a single-neural network are used to design the local tracking law of each follower, irrespective of unmatched unknown nonlinearities. The information of each follower and its neighbors is asynchronously and intermittently communicated through a directed network. Thus, the proposed asynchronous event-triggered tracking scheme can save communicational and computational resources. From the Lyapunov stability theorem, the stability of the entire closed-loop system is analyzed and the comparative simulation results demonstrate the effectiveness of the proposed control strategy.

关键词： Multi-agent systems Directed graphs Laplace equations Stability criteria Nonlinear systems Neural networks Monitoring distributed consensus tracking event-triggered control intermittent communications among followers neural networks unmatched nonlinearities

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