scholarly journals Robust flocking for non-identical second-order nonlinear multi-agent systems

2021 ◽  
Vol 1 (1) ◽  
Author(s):  
Xiuxian Li ◽  
Housheng Su ◽  
Li Li
Keyword(s):  
Second Order ◽  
Time Varying ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Control Laws ◽  
Multi Agent ◽  
Model Independent ◽  
Second Order Systems ◽  
Interaction Topology ◽  
Theoretical Results

AbstractThis paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external disturbances. In contrast with most of second-order systems in the literature, the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position, which is more realistic. Moreover, the interaction topology is undirected and switching. Provided that the leader’s velocity may be constant or time-varying, two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero asymptotically. The proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several states. An example is given to illustrate the validity of the theoretical results.

Rotating consensus tracking for second-order multi-agent systems with external disturbances

2018 ◽  
Vol 40 (13) ◽  
pp. 3604-3616 ◽  
Author(s):  
Dandan Zhang ◽  
Guangren Duan
Keyword(s):  
Relative Velocity ◽  
Second Order ◽  
Direct Access ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Velocity Measurements ◽  
External Disturbances ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent

In this paper, the rotating consensus tracking problem for second-order multi-agent systems with external disturbances in three-dimensional space is considered. It is assumed that only a subset of the agents is given direct access to the desired trajectory information. Based on a backstepping control technique, a distributed adaptive rotating consensus protocol, driving all followers to track the leader, is developed for the case when both the relative position and relative velocity measurements are available for feedback. Moreover, the proposed control protocol design method is also extended to the case that the relative velocities are not measured. Through Lyapunov stability analysis, it is shown that, under the proposed control protocols, all followers can track the leader rotating around a common point with and without relative velocity measurements. Simulation results are included to demonstrate the effectiveness of our schemes.

Formation-containment control of sampled-data second-order multi-agent systems with sampling delay

2018 ◽  
Vol 40 (16) ◽  
pp. 4369-4381 ◽  
Author(s):  
Baojie Zheng ◽  
Xiaowu Mu
Keyword(s):  
Matrix Theory ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Problems ◽  
Sampled Data ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results

The formation-containment control problems of sampled-data second-order multi-agent systems with sampling delay are studied. In this paper, we assume that there exist interactions among leaders and that the leader’s neighbours are only leaders. Firstly, two different control protocols with sampling delay are presented for followers and leaders, respectively. Then, by utilizing the algebraic graph theory and matrix theory, several sufficient conditions are obtained to ensure that the leaders achieve a desired formation and that the states of the followers converge to the convex hull formed by the states of the leaders, i.e. the multi-agent systems achieve formation containment. Furthermore, an explicit expression of the formation position function is derived for each leader. An algorithm is provided to design the gain parameters in the protocols. Finally, a numerical example is given to illustrate the effectiveness of the obtained theoretical results.

Reduced-order observer-based consensus control of linear multi-agent systems over directed networks with nonuniform communication delays

2020 ◽  
pp. 014233122093430
Author(s):  
Qiuzhen Wang ◽  
Jiangping Hu ◽  
Yiyi Zhao ◽  
Bijoy Kumar Ghosh
Keyword(s):  
Time Varying ◽  
Communication Delays ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Reduced Order ◽  
Reduced Order Observer ◽  
Multi Agent ◽  
The Stability ◽  
Output Information ◽  
Theoretical Results

This paper considers a consensus control of a general linear multi-agent system with time-varying communication delays. Since each agent can only use the relative output information from its neighbors, a reduced-order observer-based control protocol is proposed to guarantee consensus on the directed communication network. The stability of the closed-loop system is analyzed for the cases with uniform delays and nonuniform time-varying delays, respectively. Moreover, the upper bounds of the communication delays are obtained respectively for the two cases. Finally, two numerical examples are provided to illustrate the proposed theoretical results.

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