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distributed estimator-Based Event-Triggered Neuro-Adaptive Control for Leader-Follower Consensus of Strict-Feedback Nonlinear Multiagent Systems

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IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2024年第8期35卷 10713-10725页

作者： Wang, Wei Li, Yongming Tong, Shaocheng Liaoning Univ Technol Sch Elect Engn Jinzhou 121001 Peoples R China Liaoning Univ Technol Coll Sci Jinzhou 121001 Peoples R China

This article investigates the leader-follower consensus problem for strict-feedback nonlinear multiagent systems under a dual-terminal event-triggered mechanism. Compared with the existing event-triggered recursive consensus control design, the primary contribution of this article is the development of a distributed estimator-based event-triggered neuro-adaptive consensus control methodology. In particular, by introducing a dynamic event-triggered communication mechanism without continuous monitoring neighbors' information, a novel distributed event-triggered estimator in chain form is constructed to provide the leader's information to the followers. Subsequently, the distributed estimator is utilized to consensus control via backstepping design. To further decrease information transmission, a neuro-adaptive control and an event-triggered mechanism setting on the control channel are codesigned via the function approximate approach. A theoretical analysis shows that all the closed-loop signals are bounded under the developed control methodology, and the estimation of the tracking error asymptotically converges to zero, i.e., the leader-follower consensus is guaranteed. Finally, simulation studies and comparisons are conducted to verify the effectiveness of the proposed control method.

关键词： distributed estimator event-triggered control neuro-adaptive control nonlinear multiagent systems (MASs)

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distributed Formation Control for Multiple Quadrotor UAVs Based on distributed estimator and Singular Perturbation System

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2024年第4期22卷 1349-1359页

作者： Li, Ning Wang, Hongbin Luo, Qianda Zheng, Wei Yanshan Univ Coll Elect Engn Qinhuangdao 066004 Hebei Peoples R China

In this paper, the leader-follower distributed formation control of quadrotor unmanned aerial vehicles (UAVs) with communication constraints is studied, in which the leader's information can only be obtained by one follower quadrotor UAV. To make every follower quadrotor UAV get the leader's information, a distributed estimator was designed for each follower to estimate the leader's information. Therefore, the requirements of communication topology can be reduced, and the accuracy and speed of formation control can be improved under the condition of reducing the communication of quadrotor UAVs. An improved integral sliding mode control protocol is provided by introducing a multi-time scale singularly perturbed system to ensure that follower quadrotor UAVs can keep a predetermined formation while tracking the desired trajectory. Then, the stability analysis of the proposed controller is conducted using singularly perturbed and Lyapunov theory. Simulation results of different formations show that multiple quadrotor UAVs can complete formation tasks efficiently and accurately.

关键词： distributed estimator distributed formation quadrotor UAVs singularly perturbed system

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Adaptive fractional-order nonsingular fast terminal sliding mode formation control of multiple quadrotor UAVs-based distributed estimator

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ASIAN JOURNAL OF CONTROL 2023年第5期25卷 3671-3686页

作者： Wang, Hongbin Li, Ning Luo, Qianda Yanshan Univ Coll Elect Engn Qinhuangdao 066004 Hebei Peoples R China

This paper mainly solves two major problems that are unavoidable in leader-follower formation process of quadrotor UAV group: the existence of external uncertainty disturbance and communication limited between quadrotor unmanned aerial vehicle (UAV) group. To solve the problem that only one of the followers in the leader-follower formation can obtain the leader's information, an improved distributed estimator is proposed in this paper, which can accurately estimate the leader's information for each follower. In addition, in order to eliminate the influence of uncertain external disturbance on the performance of quadrotor UAV, an adaptive estimation law is designed based only on velocity and position variables. For the attitude and position subsystem of the quadrotor UAV, a sliding surface with fractional-order term is designed. Which makes the quadrotor UAV tracking error system obtain good robustness at the stage of reaching the sliding surface and fast convergence and accurate tracking performance in the sliding stage. Based on Lyapunov stability theory, the convergence results are analyzed strictly. The results show that the algorithm can make the position distance between leader and followers converge to the desired offset. Simulation results verify the effectiveness and superiority of the control algorithm.

关键词： distributed formation distributed estimator fractional-order nonsingular fast terminal sliding mode control quadrotor UAVs

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distributed Robust Fault Estimation for Multiagent Systems Based on Transition Variable estimator

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IEEE TRANSACTIONS ON CYBERNETICS 2024年第1期54卷 415-422页

作者： Shi, Jiantao Chen, Chuang Shen, Mouquan Li, Liwei Nanjing Tech Univ Coll Elect Engn & Control Sci Nanjing 211816 Peoples R China

This article investigates the distributed robust fault estimation for a class of multiagent systems with actuator faults and nonlinear uncertainties. To estimate the actuator faults and system states simultaneously, a novel transition variable estimator is constructed. Compared with existing similar results, the fault estimator existing condition is not necessary for designing the transition variable estimator. Furthermore, the bounds of the faults and their derivatives can be unknown in designing the estimator for each agent in the system. The parameters of the estimator are calculated by using Schur decomposition and linear matrix inequality algorithm. Finally, the performance of the proposed method is demonstrated through experiments of wheeled mobile robots.

关键词： Estimation Quadrotors Observers Mobile robots Actuators Robot sensing systems Multi-agent systems distributed estimator fault estimation multiagent systems (MASs) transition variable

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Adaptive fault tolerant cooperative control for hybrid nonlinear multiagent systems via switching functional

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AUTOMATICA 2025年 177卷

作者： Li, Huaying Yang, Qinmin Zhang, Meng Wu, Zhengguang Ge, Shuzhi Sam Zhejiang Univ Coll Control Sci & Engn Hangzhou 310027 Peoples R China Beihang Univ Sch Automat Sci & Elect Engn Beijing 710049 Peoples R China Natl Univ Singapore Dept Elect & Comp Engn Singapore 117583 Singapore Natl Univ Singapore Inst Funct Intelligent Mat Singapore 117583 Singapore

This paper investigates the fault tolerant cooperative control of strict-feedback hybrid multiagent systems with unknown nonlinear dynamics. The hybrid multiagent systems consist of both continuous-time and discrete-time agents, which suffer from potential multiple actuator faults. To deal with the sampled neighborhood information for continuous-time agents and to generate n-step prediction for discrete-time agents, hybrid distributed estimators are developed to estimate the state of the leader. To mitigate the impact by faulty actuators, a unified learning-based switching functional is introduced to select different sets of actuators automatically and locate the healthy set. By this means, the requirement for fault identification or fault detection and isolation mechanisms is relaxed. The controllers for continuous-time and discrete-time agents are designed separately for accommodating the difference between their dynamics. Through Lyapunov analysis, it is shown that the followers' output can track the leader's output and all the signals in the closed-loop are bounded. The numerical studies verify the effectiveness of the proposed scheme. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Hybrid multiagent system Nonlinear strict-feedback system Fault tolerant control distributed estimator

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estimator-Based Dual-Model Predictive Control for Multi-AAVs With Connectivity-Preserving

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IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING 2025年第3期12卷 1482-1496页

作者： Du, Zhixu Zhang, Hao Wang, Zhuping Yan, Huaicheng Tongji Univ Shanghai Res Inst Intelligent Autonomous Syst Shanghai 201210 Peoples R China Tongji Univ Coll Elect & Informat Engn Dept Control Sci & Engn Shanghai Key Lab Wearable Robot & Human Machine In Shanghai 201804 Peoples R China Tongji Univ Frontiers Sci Ctr Intelligent Autonomous Syst Natl Key Lab Autonomous Intelligent Unmanned Syst Minist Educ Shanghai 201210 Peoples R China Tongji Univ Natl Key Lab Autonomous Intelligent Unmanned Syst Shanghai 200092 Peoples R China Tongji Univ Coll Elect & Informat Engn Dept Control Sci & Engn Shanghai 200092 Peoples R China East China Univ Sci & Technol Sch Informat Sci & Engn Key Lab Adv Control & Optimizat Chem Proc Minist Educ Shanghai 200237 Peoples R China

This paper investigates a distributed control problem for maintaining connectivity and avoiding collisions among multiple autonomous aerial vehicles (AAVs). A novel distributed estimator is proposed for AAVs. The following AAVs utilize information from their neighbors to estimate the output information of all AAVs. By incorporating a connectivity maintenance function and a collision-free potential field function, the following AAVs avoid collisions with each other and obstacles while maintaining network connectivity. A dual-model predictive control (dual-MPC) algorithm for AAVs, referred to as outer-loop and inner-loop model predictive control optimization, is designed to quickly track the leading AAV. Stability and feasibility of the dual-MPC algorithm can be ensured by uniting rolling optimization with fuzzy logic systems. Finally, the simulation results confirm the effectiveness of the proposed controller.

关键词： Autonomous aerial vehicles Vectors Collision avoidance Stability analysis Quadrotors Predictive control Optimization Attitude control Decentralized control Prediction algorithms distributed estimator dual-model predictive control connectivity maintenance collision-free fuzzy logic systems autonomous aerial vehicles

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Efficient distributed estimation for expectile regression in increasing dimensions

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APPLIED MATHEMATICAL MODELLING 2025年 142卷

作者： Li, Xiaoyan Zhang, Zhimin Chongqing Univ Coll Math & Stat Chongqing 401331 Peoples R China

In this paper, we introduce an efficient surrogate loss method for large-scale expectile regression in non-randomly distributed scenarios. Specifically, a Poisson subsampling-based distributed asymmetric least squares estimator is proposed. Our theoretical analysis establishes the consistency and asymptotic normality as the dimensionality tends to infinity, demonstrating that the proposed estimator achieves statistical efficiency comparable to that of the global estimator. A practical three-step algorithm is presented, offering an efficient implementation in practical applications. The proposed estimator exhibits two notable advantages: (i) it is communication-efficient, utilising all the data but only requiring the transmission of a small subsample and the local gradient from each local site;and (ii) it can effectively adapt to unevenly distributed data and non-randomly stored data. Within the Newton-Raphson algorithm, the initial value and the Hessian matrix are computed with enhanced robustness using the Poisson subsampling-derived subsample than using one local dataset or uniform subsampling-derived subsample. Both simulation studies and empirical results confirm that the proposed estimator enhanced estimation efficiency relative to existing methods.

关键词： Large-scale asymmetric data Non-randomly distributed scenarios Expectile regression Poisson subsampling distributed estimator Increasing dimensions

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Formation Control of Nonholonomic Mobile Robots Using distributed estimators

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2020年第12期67卷 3162-3166页

作者： Lu, Peifen Wang, He Zhang, Fan Yu, Wenwu Chen, Guanrong Southeast Univ Sch Math Nanjing 210096 Peoples R China Sun Yat Sen Univ Sch Aeronaut & Astronaut Shenzhen Guangzhou 510275 Peoples R China City Univ Hong Kong Dept Elect Engn Hong Kong Peoples R China

This brief addresses the distributed estimator of each follower NMR, which uses its own information and the information of its neighboring NMRs, is designed to estimate the leader's states. By means of these estimates, a formation controller is proposed for the follower NMRs that are also required to track the leader NMR. Lyapunov function techniques are employed to analyze the distributed estimator as well as the formation controller. Simulation and experiment examples are presented to illustrate the theoretical results.

关键词： Nuclear magnetic resonance Lyapunov methods Circuits and systems Mobile robots Control systems Tracking Observers Nonholonomic mobile robot formation control distributed estimator Lyapunov function

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Rigidity based formation tracking for multi-agent networks

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Chinese Physics B 2015年第9期24卷 62-67页

作者：白璐陈飞兰维瑶 Department of Automation Xiamen University

This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is available to only a subset of the agents. The following two cases are considered： the desired velocity is constant, and the desired velocity is timevarying. In the first case, a distributed linear estimator is constructed for each agent to estimate the desired velocity. The velocity estimation and a formation acquisition term are employed to design the control inputs for the agents, where the rigidity matrix plays a central role. In the second case, a distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in a finite time. Theoretical analysis shows that the formation tracking problem can be solved under the proposed control algorithms and estimators. Simulation results are also provided to show the validity of the derived results.

关键词： multi-agent system formation control graph rigidity distributed estimator

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Bi-level decentralised active power control for large-scale wind farm cluster

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IET RENEWABLE POWER GENERATION 2018年第13期12卷 1486-1492页

作者： Huang, Sheng Wu, Qiuwei Guo, Yifei Lin, Zhongwei Tech Univ Denmark Dept Elect Engn Copenhagen Denmark Shandong Univ Sch Elect Engn Key Lab Power Syst Intelligent Dispatch & Control Minist Educ Jinan 250061 Shandong Peoples R China North China Elect Power Univ Sch Control & Comp Engn State Key Lab Alternate Elect Power Syst Renewabl Beijing 102206 Peoples R China

This study presents a bi-level decentralised active power control (DAPC) for a large-scale wind farm cluster (WFC), consisting of several wind farms for better active power dispatch. In the upper level, a distributed active power control scheme based on the distributed consensus is designed to achieve fair active power sharing among multiple wind farms, which generates the power reference for each wind farm. A distributed estimator is used to estimate the total available power of all wind farms. In the lower level, a centralised control scheme based on the model predictive control is proposed to regulate active power outputs of all wind turbines (WTs) within a wind farm, which reduces the fatigue loads of WTs while tracking the power reference obtained from the upper-level control. A WFC with 8 wind farms and totally 160 WTs, was used to test the control performance of the proposed DAPC scheme.

关键词： decentralised control load flow control wind turbines wind power plants power generation control power generation dispatch distributed control predictive control centralised control bi-level decentralised active power control large-scale wind farm cluster DAPC scheme WFC active power dispatch distributed active power control scheme distributed consensus fair active power sharing distributed estimator centralised control scheme model predictive control active power output regulation wind turbines fatigue load reduction power reference tracking upper-level control

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