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Observer-based event-triggered formation tracking control for second-order multi-agent systems in constrained region

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Science China(Information Sciences) 2025年第2期68卷 151-169页

作者： Fenglan SUN Zhonghua XU Wei ZHU ■ KURTHS Key Lab of Intelligent Analysis and Decision on Complex Systems School of ScienceChongqing University of Posts and Telecommunications Key Lab of Intelligent Air-Ground Cooperative Control for Universities in Chongqing College of AutomationChongqing University of Posts and Telecommunications Department of Complexity Science Potsdam Institute for Climate Impact Research Institute of Physics Humboldt University of Berlin

In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative effects of external unknown disturbance, a novel disturbance observer with performance guarantees is proposed, enabling precise disturbance *** the artificial potential field(APF) method, a repulsive potential function is introduced to prevent inter-agent collisions as well as collisions with environmental obstacles. To reduce continuous communication and frequent system updates, a sliding mode technique is incorporated into the formation tracking controller, utilizing an event-triggered mechanism. The controller is also applicable to the formation control of MAS in switching-constrained regions. The achievement of the specified timevarying geometric formation is rigorously demonstrated through the Lyapunov framework. Numerical simulations are presented to validate the effectiveness of the theoretical results.

关键词： formation tracking control region constraints repulsive potential function event-triggered mechanism

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Asymptotic stability of fractional linear discrete-time equations with arbitrary time delays

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The European Physical Journal Special Topics 2025年 1-18页

作者： Liu, Chong Wu, Guo-Cheng Hou, Hu-Shuang School of Mathematics and Statistics Guizhou University Guiyang People’s Republic of China Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing People’s Republic of China School of Mathematical Sciences Sichuan Normal University Chengdu People’s Republic of China

This paper introduces a class of Caputo fractional difference equations with arbitrary time delays. It provides non-negative conditions of the Mittag-Leffler function solutions. Exact solutions of fractional linear difference equations are obtained by Picard’s method, and stability conditions are given by the Z-transform. Finally, such results are extended to h-fractional difference equations. This study reveals the time delay’s effect on the dynamics of fractional difference equations and the stable regions. It also provides necessary and sufficient conditions for neural networks and control.

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Leader-Following Consensus of Multi-Agent systems via Adaptive Event-Based Control

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Journal of systems Science & complexity 2019年第3期32卷 846-856页

作者： ZHU Wei WANG Dandan ZHOU Qianghui Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications

In this paper, the adaptive event-based control approach is applied to study leader-following consensus of multi-agent systems with linear dynamic models. Adaptive event-based controller and triggering function for each agent are designed, where the adaptive function is only dependent on its own event time instants. A sufficient condition on consensus is proposed, which shows that the adaptive event-based method presented in this paper not only can reduce the communication among neighboring agents, but also can determine the event time instants for each agent without using the global information. Furthermore, the Zeno-behavior for the concerned closed-loop system is excluded. Finally, an example is presented to ilhistratc the effectiveness of the obtained theoretical results.

关键词： Adaptive control event-based control leader-following consensus Zeno-behavior

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Adaptive Event-Based Consensus of Multi-Agent systems with General Linear Dynamics

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Journal of systems Science & complexity 2018年第1期31卷 120-129页

作者： WANG Dandan ZHOU Qianghui ZHU Wei Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecom-munications

In this paper, adaptive event-based consensus of multi-agent systems with general linear dynamics is considered. A novel adaptive event-based controller and a state-dependent triggering function are proposed for each agent. The consensus can be achieved without the assumption that（A, B） is stabilizable. Furthermore, the Zeno-behavior of the concerned closed-loop system is also excluded under certain conditions. Finally, a numerical simulation example is presented to show the effectiveness of the theoretical results.

关键词： Event-based control adaptive control consensus Zeno-behavior

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Identification for Switched systems

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IFAC-PapersOnLine 2015年第28期48卷 514-519页

作者： Hu, Qiong Fei, Qing Ma, Hongbin Wu, Qinghe Geng, Qingbo State Key Lab of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing100081 China

For a class of unstable discrete-time multi-variable switched systems with parametric uncertainty, an identification scheme is developed in this paper. Specifically, the identification algorithm is derived to identify the parameter vectors of potential subsystems based on the idea of least geometric mean squares. Furthermore, an neural network classifier is put forward for partition of the identified subsystems. Finally, feasibility and effectiveness of the proposed identification scheme are verified by numerical simulations, which show that the desirable identification performance is guaranteed with the proposed scheme. © 2015

关键词： Parameter estimation Computational fluid dynamics Geometric mean Identification algorithms Identification scheme Multi variables Neural network classifier Parameter vectors Parametric uncertainties Switched system

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Distributed Optimization Problem of Second-Order Multi-agent systems via Event-Triggered Proportion-Integration-Differentiation Algorithm 5th

Distributed Optimization Problem of Second-Order Multi-agen...

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5th Chinese Conference on Swarm Intelligence and Cooperative Control, CCSICC 2021

作者： Tian, Haibao Zhu, Wei Key Lab of Intelligent Analysis and Decision on Complex Systems Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9789811939976

This paper studies the event-triggered distributed optimization problem of second-order multi-agent systems. In order to obtain the optimal solution with low communication costs, a distributed event-triggered proportion-integration-differentiation algorithm is presented, where the event-triggered time sequence is dependent on the states of the agents. By using matrix transform and differential inequality technique, the global exponential convergence is obtained. Furthermore, the event-triggered time sequence is proved to be free of Zeno behavior. Finally, a numerical example illustrates the effectiveness of theoretical results. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Understanding the Influence of Random Impulse Noise on Visual SLAM 41

Understanding the Influence of Random Impulse Noise on Visua...

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第41届中国控制会议

作者： Nan Zhang Zhihong Peng Wei Quan School of Automation Beijing Institute of Technology Key Lab of Intelligent Control and Decision of Complex Systems

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The localization accuracy of visual SLAM depends on the image ***,in postdisaster rescue missions,the images obtained by the camera often contain considerable noise,which affects the pose estimation based on visual *** this paper,we study the influence of random impulse noise in images on the localization accuracy of visual SLAM,and reduce these influences by denoising and removing ***,the camera image is preprocessed by the traditional image noise reduction *** at the problem of a large number of mismatches in optical flow tracking due to the influence of residual noise,the improved random sample consensus method is adopted to remove *** judge the correct matching probability of optical flow tracking results by normalized cross-correlation matching before random *** use guided sampling to select matching points to estimate the camera motion model,to increase the robustness of the SLAM ***,our method is verified in the open-source solution *** show that after random impulse noise is added to the KITTI dataset,the pose estimation accuracy of the improved SLAM is higher than the pose estimation accuracy after noise reduction only,and it is also higher than the pose estimation results of the original images in multiple sequences of the KITTI dataset.

关键词： Visual SLAM Denoise NCC

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Bearing-Only Formation of Multi-Agent systems via Edge-Based Event-Triggered Control 42

Bearing-Only Formation of Multi-Agent Systems via Edge-Based...

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42nd Chinese Control Conference, CCC 2023

作者： Liu, Chenjun Zhu, Wei Chongqing University of Posts and Telecommunications Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing China

ISBN: (纸本)9789887581543

The event-triggered bearing-only formation of leader-following multi-agent systems is studied in this paper. Based on the neighboring bearing information at event-triggering time instants, the edge-based event-triggered scheme for stationary formation is designed. The event-triggering time instants are iteratively determined by a combined technique, where the Zeno-behavior can be avoided directly. A sufficient condition for achieving formation is presented under the assumption that there is no collision among agents. Finally, the numerical simulation is given to illustrate the effectiveness of the theoretical results. © 2023 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Multi agent systems

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Financial Time Series Prediction via Neural Ordinary Differential Equations Approach

Financial Time Series Prediction via Neural Ordinary Differe...

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2023 International Annual Conference on complex systems and intelligent Science, CSIS-IAC 2023

作者： Li, Jingsui Zhu, Wei Chen, Zhang Pei, Chao Chongqing University of Posts and Telecommunications Key Laboratory of Intelligent Analysis and Decision on Complex Systems Chongqing China

ISBN: (纸本)9798350309003

This paper considers the prediction problem of financial time series, namely, the prediction of exchange rate for four currencies with the Chinese Yuan (CNY). A novel approach is developed for this challenging topic by neural ordinary differential equations (NODEs). The comparing simulations with long short-term memory (LSTM) and gated recurrent unit (GRU) show that NODEs have better precision and accuracy in exchange rate prediction. Especially, for the drastic change case, the NODEs approach gives more flexible technique. © 2023 IEEE.

关键词： Long short-term memory

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Estimation of Parameters for Two-Stage Mixed Fuzzy Linear Regression Models

Estimation of Parameters for Two-Stage Mixed Fuzzy Linear Re...

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2023 International Conference on Pure, Applied, and Computational Mathematics, PACM 2023

作者： Xu, Xiaoli Zhang, Pingping Key Lab of Intelligent Analysis and Decision on Complex Systems School of Science Chongqing University of Posts and Telecommunications Chongqing400065 China

ISBN: (纸本)9781510666757

Combining nonlinear programming and least squares method, this paper proposes a two-stage mixed fuzzy linear regression model based on distance criterion. In order to ensure that the error of fuzzy estimated value and fuzzy observation value can be reduced when the explanatory variable is a clear number, the fuzzy regression model has a fuzzy adjustment term in addition to the clear regression coefficient. Firstly, based on the distance criterion, a nonlinear programming model is established to obtain the regression coefficient of the explanatory variables, and the fuzzy adjustment term is obtained based on the distance criterion and the least square method. Compared with the existing methods that cannot determine the sign of the coefficient, the method can accurately determine the sign of the regression coefficient. Finally, it is verified that the model has smaller mean square error and higher reliability than other models through a large number of numerical experiments and practical examples. © 2023 SPIE.

关键词： Nonlinear programming

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