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distributed time-varying optimization control protocol for multi-agent systems via finite-time consensus approach

NEURAL NETWORKS 2024年 171卷 73-84页

作者： Li, Haojin Yue, Xiaofeng Qin, Sitian Harbin Inst Technol Dept Math Weihai 264209 Peoples R China

This paper addresses a distributed time-varying optimization problem with inequality constraints based on multi-agent systems over switching communication graphs. To reduce the influence of time-varying inequality constraints, an exact penalty method and smoothing technique are employed. Then, a Hessian-based distributed control protocol is presented to seek the time-varying optimal solution of the distributed time-varying optimization problem by virtue of only local information and interaction. It is shown that all agents not only achieve finite-time consensus but also track the time-varying global optimal target eventually. Compared with the existing distributed optimization protocols, the proposed control protocol is suitable for more general distributed time-varying optimization problems and enjoys high-efficiency convergence. Finally, numerical examples and experiment on moving target tracking of Unmanned Aircraft Vehicle (UAV) are performed to illustrate the effectiveness of the proposed control protocol.

关键词： distributed time-varying optimization distributed control protocol Finite-time consensus Switching communication graphs

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distributed Bipartite Consensus control for Multi-Agent Systems With Actuator Faults Under Fixed and Markovian Switching Topology

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IEEE ACCESS 2024年 12卷 161742-161751页

作者： Li, Hongliang Gu, Xuan Gan, Yiming Liao, Kaili Zhou, Wuneng Donghua Univ Coll Informat Sci & Technol Shanghai 201620 Peoples R China Guangdong Polytech Coll Foshan 528041 Peoples R China

We consider the distributed bipartite consensus problem of general linear multi-agent systems (MASs) with structurally balanced symbolic graphs. The communication topology is fixed topology or Markovian switching topology which follows a continuous time Markov process. Different from the traditional multi-agent fault-tolerant consensus control, a distributed consensus control protocol is designed for multi-agent systems with both competitive and cooperative states. A distributed extended state observer and distributed bipartite consensus based on relative neighbor information are designed with the help of algebraic graph theory and Lyapunov stability theory. The bipartite consensus error and estimation error converge to zero under the action of the bipartite control protocol. In the end, the superiority of the theoretical method is verified by simulation examples.

关键词： Topology Switches Actuators Network topology Estimation error Consensus control protocols Observers Multi-agent systems Lyapunov methods Markovian switching topology actuator faults bipartite consensus distributed control protocol multi-agent systems (MASs)

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distributed formation-containment control of nonholonomic robots with velocity constraints

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2025年

作者： Yan, Zheping Yu, Yuyang Xing, Wen Shi, Yan Yan, Jinyu Harbin Engn Univ Coll Intelligent Syst Sci & Engn Harbin 150001 Heilongjiang Peoples R China Harbin Engn Univ Qingdao Innovat & Dev Ctr Qingdao 266000 Shandong Peoples R China Tokai Univ Grad Sch Sci & Technol Kumamoto Japan

This paper investigates the formation-containment problem for nonholonomic robots with velocity constraints. A multi-robot framework is established, consisting of a virtual leader, multiple leaders, and followers, interconnected via a directed acyclic graph. Only some leaders have direct access to the virtual leader's information. To achieve collaborative behaviour, two distributed control strategies are proposed: a formation control protocol for leaders to maintain a desired configuration and a containment control protocol for followers to enter into the convex hull spanned by leaders' formation. The controllers directly generate linear and angular velocity commands, avoiding the need for feedback linearisation of complex robot dynamics during the design process. A velocity saturation function is introduced, and the neighbour information under the constraint of the communication topology is combined to jointly ensure the boundedness of control commands. Based on cascade system theory, the uniform asymptotic stability of the entire closed-loop multi-robot system is proven. Simulations demonstrate the effectiveness of the proposed control laws.

关键词： Nonholonomic robots formation-containment control distributed control protocol velocity constraints

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Finite-time distributed control for Heterogeneous Signed Networks 14

Finite-time Distributed Control for Heterogeneous Signed Net...

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14th Asian control Conference (ASCC)

作者： Zhang, Yi Li, Jinchao Du, Mingjun Ji, Peng Qilu Univ Technol Sch Informat & Automat Engn Shandong Acad Sci Jinan Peoples R China

ISBN: (纸本)9798331540845;9789887581598

This study explores the finite-time distributed control problem in heterogeneous signed networks. In scenarios where the velocity of second-order networks are unobservable, this research designs a nonlinear control protocol by introducing auxiliary variables and relative displacement information. This protocol enables heterogeneous signed networks with undirected topology to achieve bipartite consensus within a finite time under structurally balanced conditions and reach state stability within a finite time when structurally unbalanced. The effectiveness of this protocol is proven using methods such as the Lyapunov stability theorem and graph theory. Moreover, the validity of the theoretical result is confirmed through simulation experiments.

关键词： Finite-time bipartite consensus distributed control protocol heterogeneous signed networks

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Robust flocking of multiple intelligent agents with multiple disturbances

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INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS 2022年第10期37卷 7571-7583页

作者： Yang, Yize Chen, Yang-Yang Yang, Hongyong Southeast Univ Sch Automat Nanjing 210096 Peoples R China Ludong Univ Sch Informat & Elect Engn Yantai Peoples R China

The cooperation control of multiple intelligent agents (MIAs), which can solve complex engineering problems in practice, has received increasing attention. However, there are multiple disturbances in wireless sensor networks, which has a great effect on the collaboration of MIAs. In this paper, the problem of the flocking motion of second-order MIAs is addressed with collision avoidance and multiple disturbances. To estimate the matched/mismatched disturbances, the disturbance observers are designed. It is noted that the assumption that the differentials of disturbances converge to zeros in the literature is removed. A novel compound strategy is designed by using the robust auxiliary function and the potential function. The asymptotic properties of the flocking system are studied based on the Input-to-State Stability Theorem and the robust stability. Numerical simulation results verify the validity of the proposed protocol.

关键词： collision avoidance distributed control protocol multiple disturbances multiple intelligent agents robust flocking

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Event-based sampled-data consensus control for distributed linear multi-agent systems 34

Event-based sampled-data consensus control for distributed l...

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34th Chinese control and Decision Conference (CCDC)

作者： Wang, Guoliang Zhu, Zhikang Liaoning Petrochem Univ Sch Informat & Control Engn Fushun 113001 Liaoning Peoples R China

ISBN: (纸本)9781665478960

This paper concerns sampled-data consensus under distributed event-triggered strategy for multi-agent systems with undirected graph. Detailed construction of a distributed multi-agent systems structure based on undirected graphs. The multi-agent systems is transformed into an equivalent error system, then converted the error system to one with a time delay processed by Lyapunov-Krasovskii functional. Based on the error system, the linear matrix inequality (LMIs) toolbox derived the conditions for the error system to be stable and ensures that all agents are consensus. Then, based on the conditions obtained above, a theorem of calculating the controller gain is proposed, effectively reduced the sampling frequency and greatly improved the convergence rate. Finally, simulation examples are given to verify the reliable validity of the theories that had proposed.

关键词： multi-agent systems distributed control protocol consensus linear matrix inequalities (LMIs) sampled-data

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Event-Based Leader-Following Synchronization of Coupled Harmonic Oscillators Under Jointly Connected Switching Topologies

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2021年第3期68卷 958-962页

作者： Cai, Jiayi Feng, Jianwen Wang, Jingyi Zhao, Yi Shenzhen Univ Sch Math & Stat Shenzhen 518060 Guangdong Peoples R China

This brief investigates the leader-following synchronization (LFS) of directly balanced coupled harmonic oscillator systems (CHOS) via event-triggered control. Unlike the most previous coordination works about CHOS in which the network topology are generally assumed to be connected, we consider the topology is jointly connected over the time interval. We propose a fully distributed sampling control protocol to save the network communication and computing resources. Moreover, the triggered condition is only related to its neighbor of each oscillator and leader. Through rigorous mathematical analysis, we prove that the CHOS with the jointly connected topology can achieve the LFS under an event-triggered strategy, and further analysis shows that the Zeno behavior can be eliminated.

关键词： Oscillators Topology Switches Network topology protocols Synchronization Synchronization event-triggered control distributed control protocol jointly topology harmonic oscillator systems

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Scaled consensus for coupled harmonic oscillators via sampled position data

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IET control THEORY AND APPLICATIONS 2020年第18期14卷 2776-2783页

作者： Yao, Zhongsheng Vong, Seakweng Univ Macau Dept Math Ave Univ Macau Peoples R China

This study considers the scaled consensus problem of coupled harmonic oscillators with a directed network topology. A distributed control protocol with input delay and intermittent sampled position information only is proposed. To achieve consensus, a necessary and sufficient condition depending on communication width, input delay and sampling period is derived. Furthermore, to save energy and improve the efficiency of communication among the agents and their neighbours, the authors extend their argument to investigate an impulsive control protocol. Different from intermittent control, the scaled consensus under the impulsive control cannot be achieved if there is no input delay. Numerical simulations illustrate that appropriately chosen control gains can verify the theoretical results.

关键词： matrix algebra time-varying systems sampled data systems multi-agent systems numerical analysis multi-robot systems distributed control delays harmonic oscillators sufficient condition communication width input delay sampling period impulsive control protocol intermittent control appropriately chosen control gains coupled harmonic oscillators sampled position data scaled consensus problem directed network topology distributed control protocol intermittent sampled position information necessary condition

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Event-based sampled-data consensus control for distributed linear multi-agent systems

Event-based sampled-data consensus control for distributed l...

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第34届中国控制与决策会议

作者： Guoliang Wang Zhikang Zhu School of Information and Control Engineering Liaoning Petrochemical University

This paper concerns sampled-data consensus under distributed event-triggered strategy for multi-agent systems with undirected *** construction of a distributed multi-agent systems structure based on undirected *** multi-agent systems is transformed into an equivalent error system,then converted the error system to one with a time delay processed by Lyapunov-Krasovskii *** on the error system,the linear matrix inequality(LMIs) toolbox derived the conditions for the error system to be stable and ensures that all agents are ***,based on the conditions obtained above,a theorem of calculating the controller gain is proposed,effectively reduced the sampling frequency and greatly improved the convergence ***,simulation examples are given to verify the reliable validity of the theories that had proposed.

关键词： multi-agent systems distributed control protocol consensus linear matrix inequalities(LMIs) sampled-data

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distributed edge-event triggered consensus control for multi-agent systems by edge-based asynchronous communications

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APPLIED MATHEMATICS AND COMPUTATION 2021年 397卷 125920-125920页

作者： Zhang, Juan Zhang, Huaguang Li, Weihua Li, Keqin Northeastern Univ Coll Informat Sci & Engn Shenyang 110004 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Liaoning Peoples R China

This paper investigates the consensus problem for a class of nonlinear multi-agent systems (MASs) under static and dynamic distributed edge-event triggered control protocols. The novel asynchronous edge-event triggered mechanisms are proposed to avoid continuous information transmission between neighbors, under which each subsystem does not exhibit the Zeno behavior. Compared with the existing works, the highlight of this paper is based on edge communication and the construction of triggering mechanism depends on the information of the edge. Moreover, compared with the event-triggered mechanism, the edge-event triggered mechanism is a more distributed information exchange mode and each agent transmits information to its out-neighbors asynchronously, thus effectively reducing the use of system resources. Finally, a practice simulation example is introduced to demonstrate the main results of this paper. Moreover, in order to highlight the advantages of our methods, a comparative experiment is performed. (C) 2021 Elsevier Inc. All rights reserved.

关键词： Lipschitz nonlinear dynamics Edge-event triggered mechanism Adaptive control distributed control protocol Zeno behavior

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