Hierarchical Cooperative Control for Multiagent Systems With Switching Directed Topologies

The multiconsensus problem of first-order multiagent systems with directed topologies is studied. A novel consensus problem is introduced in multiagent systems — multiconsensus. The states of multiple agents in each subnetwork asymptotically converge to an individual consistent value in the presence of information exchanges among subnetworks. Linear multiconsensus protocols are proposed to solve the multiconsensus problem, and the matrix corresponding to the protocol is designed. Necessary and sufficient conditions are derived based on matrix theory, under which the stationary multiconsensus and dynamic multiconsensus can be reached. Simulations are provided to demonstrate the effectiveness of the theoretical results.

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Time-varying fault-tolerant formation tracking based cooperative control and guidance for multiple cruise missile systems under actuator failures and directed topologies

Journal of Systems Engineering and Electronics ◽

10.21629/jsee.2019.03.16 ◽

2019 ◽

Vol 30 (03) ◽

pp. 587-600 ◽

Cited By ~ 1

Author(s):

Xingguang Xu ◽

◽

Zhenyan Wei ◽

Zhang Ren ◽

Shusheng Li ◽

...

Keyword(s):

Cooperative Control ◽

Fault Tolerant ◽

Cruise Missile ◽

Time Varying ◽

Actuator Failures ◽

Formation Tracking ◽

Directed Topologies

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Phantom Track Generation Through Cooperative Control of Multiple ECAVs Based on Feasibility Analysis

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2764512 ◽

2007 ◽

Vol 129 (5) ◽

pp. 708-715 ◽

Cited By ~ 13

Author(s):

D. H. A. Maithripala ◽

Suhada Jayasuriya ◽

Mark J. Mears

Keyword(s):

Multiagent Systems ◽

Mobile Agents ◽

Cooperative Control ◽

General Framework ◽

Sufficient Conditions ◽

Feasibility Analysis ◽

Rigorous Treatment ◽

Simulation Results ◽

Feasible Solutions ◽

Generation Problem

Radar deception through phantom track generation using multiple electronic combat air vehicles is addressed, which serves as a motivating example for cooperative control of autonomous multiagent systems. A general framework to derive sufficient conditions for the existence of feasible solutions for an affine nonlinear control system comprising of a team of nonholonomic mobile agents having to satisfy actuator and interagent constraints is presented. Based on this feasibility analysis, an algorithm capable of generating trajectories online and in real time, for the phantom track generation problem, is developed. A rigorous treatment of the phantom track generation problem, which includes results on its accessibility, feasibility, local asymptotic straightening of trajectories, and a limited result on system controllability, is given. The basic approach to the algorithm based on the results developed here is presented along with simulation results, validating the proposed approach.

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Consensus of Multiagent Systems with Directed Topology and Communication Time Delay Bases on the Laplace Transform

Mathematical Problems in Engineering ◽

10.1155/2014/437819 ◽

2014 ◽

Vol 2014 ◽

pp. 1-7

Author(s):

Bo Liu ◽

Li Wang ◽

Dehui Sun ◽

Xinmao Zhu

Keyword(s):

Time Delay ◽

Laplace Transform ◽

Multiagent Systems ◽

Consensus Problem ◽

Directed Topology ◽

Communication Time ◽

The Laplace Transform ◽

Initial States ◽

Directed Topologies ◽

Theoretical Results

This paper investigates the consensus problem of multiagent systems with directed topologies. Different from the literatures, a new method, the Laplace transform, to study the consensus of multiagent systems with directed topology and communication time delay is proposed. The accurate state of the consensus center and the upper bound of the communication delay to make the agents reach consensus are given. It is proved that all the agents could aggregate and eventually form a cohesive cluster in finite time under certain conditions, and the consensus center is only determined by the initial states and the communication configuration among the agents. Finally, simulations are given to illustrate the theoretical results.

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Multiconsensus of second order multiagent systems with directed topologies

International Journal of Control Automation and Systems ◽

10.1007/s12555-013-0016-x ◽

2013 ◽

Vol 11 (6) ◽

pp. 1122-1127 ◽

Cited By ~ 18

Author(s):

Guang-Song Han ◽

Zhi-Hong Guan ◽

Xin-Ming Cheng ◽

Yonghong Wu ◽

Feng Liu

Keyword(s):

Multiagent Systems ◽

Second Order ◽

Directed Topologies

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Extremum Seeking Based Fault-Tolerant Cooperative Control for Multiagent Systems

Mathematical Problems in Engineering ◽

10.1155/2015/783275 ◽

2015 ◽

Vol 2015 ◽

pp. 1-8

Author(s):

Fu Jiang ◽

Xiaoyong Zhang ◽

Wentao Yu ◽

Heng Li ◽

Jun Peng ◽

...

Keyword(s):

Numerical Simulation ◽

Fault Detection ◽

Multiagent Systems ◽

Control Strategy ◽

Cooperative Control ◽

Fault Tolerant ◽

Extremum Seeking ◽

Unknown Input ◽

Fault Parameter ◽

Unknown Input Observers

We propose a novel fault-tolerant cooperative control strategy for multiagent systems. A set of unknown input observers for each agent are constructed for fault detection. Then a real-time adaptive extremum seeking algorithm is utilized for adaptive approximation of fault parameter. We prove that the consensus can be still reached by regulating the interconnection weights and changing the connection topology of the fault agent. A numerical simulation example is given to illustrate the feasibility and effectiveness of the proposed method.

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Adaptive Fuzzy Cooperative Control for Nonlinear Multiagent Systems with Unknown Control Coefficient and Actuator Fault

Complexity ◽

10.1155/2021/8427437 ◽

2021 ◽

Vol 2021 ◽

pp. 1-11

Author(s):

Xin Deng ◽

Xiaoping Liu ◽

Yang Cui ◽

Cungen Liu

Keyword(s):

Multiagent Systems ◽

Cooperative Control ◽

Control Method ◽

Nonlinear Function ◽

Backstepping Control ◽

Control Technique ◽

Actuator Fault ◽

Control Coefficient ◽

Adaptive Fuzzy ◽

Unknown Control

In this paper, an adaptive fuzzy containment condtrol is considered for nonlinear multiagent systems, in which it contains the unknown control coefficient and actuator fault. The uncertain nonlinear function has been approximated by fuzzy logic system (FLS). The unknown control coefficient and the remaining control rate of actuator fault can be solved by introducing a Nussbaum function. In order to avoid the repeated differentiations of the virtual controllers, first-order filters are added to the traditional backstepping control method. By designing the maximum norm of ideal adaptive parameters, only one adaptive parameter needs to be adjusted online for each agent itself. An adaptive fuzzy containment controller is constructed through the backstepping control technique and compensating signals. It is demonstrated that all the signals in nonlinear multiagent systems are bounded by designing adaptive fuzzy containment controller, and all followers can converge to the convex hull built by the leaders. The simulation studies can further confirm the effectiveness of the proposed control method in this paper.

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