Impulsive Consensus of Networked Multi-Agent Systems With Distributed Delays in Agent Dynamics and Impulsive Protocols

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Xinzhi Liu ◽  
Kexue Zhang ◽  
Wei-Chau Xie
Keyword(s):  
Sufficient Conditions ◽  
Stability Result ◽  
Distributed Delays ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
New Type ◽  
Novel Method ◽  
Delayed Impulses ◽  
Theoretical Results

This paper studies the consensus problem of networked multi-agent systems (NMASs). Distributed delays are considered in the agent dynamics, and we propose a new type of impulsive consensus protocols that also takes into account of distributed delays. A novel method is developed to estimate the relation between the agent states at the impulsive instants and the distributed-delayed agent states, which helps to use the Razumikhin-type stability result to investigate the consensus of NMASs with distributed-delayed impulses. Sufficient conditions are established to guarantee that the network consensus can be reached via the proposed consensus protocols with fixed and switching topologies, respectively. Numerical simulations are also provided to demonstrate our theoretical results.

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.

Sampled intermittent control for consensus of multi-agent systems with variable activated intervals

2017 ◽  
Vol 40 (5) ◽  
pp. 1521-1528
Author(s):  
Yan Wang ◽  
Hong Zhou ◽  
Zhi-Wei Liu ◽  
Wenshan Hu ◽  
Wei Wang
Keyword(s):  
Sufficient Conditions ◽  
Nonnegative Matrix ◽  
Switching Topology ◽  
Intermittent Control ◽  
Multi Agent Systems ◽  
Time Intervals ◽  
Agent Systems ◽  
Multi Agent ◽  
Velocity Information ◽  
Theoretical Results

In this paper, a new kind of intermittent control is proposed to study consensus problems of multi-agent systems with second-order dynamics. In particular, we consider the case that the information transmission occurs at sampling instants and the velocity information is not available for feedback. The proposed control only regulates the velocity of agents in a given sequence of disconnected time intervals, called activated intervals, after sampling instants. Remarkably, both the sampling and activated intervals are not required to be identical. By adopting algebraic graph theory and nonnegative matrix, some sufficient conditions are obtained for guaranteeing the consensus of the multi-agent systems under the switching topology. Finally, the numerical examples are included to illustrate the theoretical results.

scholarly journals Distributed robust H∞ composite-rotating consensus of second-order multi-agent systems

2017 ◽  
Vol 13 (7) ◽  
pp. 155014771772251 ◽  
Author(s):  
Weizheng Huang ◽  
Wenfeng Zheng ◽  
Lipo Mo
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
State Feedback ◽  
Sufficient Conditions ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Distributed Control Algorithm ◽  
Theoretical Results

In this article, the distributed [Formula: see text] composite-rotating consensus problem is concerned for a class of second-order multi-agent systems. First, based on local state feedback and communication feedback, a distributed control algorithm is proposed. Then, sufficient conditions are derived in order to make all agents reach a composite-rotating consensus with the desired [Formula: see text] performance. Finally, the simulations are given to show the effectiveness of the theoretical results.

Schooling for multi-agent systems via impulsive containment control algorithms with quantized information

2018 ◽  
Vol 41 (3) ◽  
pp. 828-841 ◽  
Author(s):  
Hong-Xiao Zhang ◽  
Li Ding ◽  
Zhi-Wei Liu
Keyword(s):  
Sufficient Conditions ◽  
Laplacian Matrix ◽  
Control Algorithms ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Eigenvalues Of The Laplacian ◽  
Multi Agent ◽  
Necessary And Sufficient ◽  
Theoretical Results

In the paper, schooling problems based on containment control in multi-agent systems that have static or dynamic leaders under directed and undirected communication topologies are investigated. We propose a periodic impulsive containment control algorithm to realize schooling in multi-agent systems. Both ideal and quantized relative state measurements are considered under this framework. Some necessary and sufficient conditions, which depend on the eigenvalues of the Laplacian matrix that is associated with the communication graph, the impulsive period as well as the gain parameters, are obtained to realize the containment control of schooling. Finally, some numerical simulations are illustrated to verify the theoretical results.

scholarly journals On Leader-Following Consensus in Multi-Agent Systems with Discrete Updates at Random Times

Entropy ◽  
2020 ◽  
Vol 22 (6) ◽  
pp. 650
Author(s):  
Ricardo Almeida ◽  
Ewa Girejko ◽  
Snezhana Hristova ◽  
Agnieszka Malinowska
Keyword(s):  
Continuous Time ◽  
Sufficient Conditions ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Agent Networks ◽  
Random Times ◽  
Theoretical Results

This paper studies the leader-following consensus problem in continuous-time multi-agent networks with communications/updates occurring only at random times. The time between two consecutive controller updates is exponentially distributed. Some sufficient conditions are derived to design the control law that ensures the leader-following consensus is asymptotically reached (in the sense of the expected value of a stochastic process). The numerical examples are worked out to demonstrate the effectiveness of our theoretical results.

scholarly journals Bipartite multi-tracking in MASs with intermittent communication

2021 ◽  
Vol 26 (4) ◽  
pp. 610-625
Author(s):  
Da Huang ◽  
Xiaolin Fan ◽  
Cheng Hu ◽  
Haijun Jiang
Keyword(s):  
Sufficient Conditions ◽  
Networked Systems ◽  
Graph Structure ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Multi Agent ◽  
New Type ◽  
Intermittent Communication ◽  
Intermittent Communications ◽  
Theoretical Results

In this paper, a novel cluster consensus problem related with the bipartition of the graph of multi-agent systems (MASs) is studied. To track the virtual leaders and reach the expected consensus, a new type of pinning consensus protocol with aperiodic intermittent effects is designed according to the graph structure, and a new kind of aperiodic intermittent communication is defined. Moreover, the protocol is applied to construct networked systems with intermittent communications. Lyapunov functional is applied to get sufficient conditions for solving the multi-tracking problem under a dual subsystem framework. Finally, some numerical simulations are given to illustrate the effectiveness of the theoretical results.

Data-driven tracking consensus for a class of unknown nonlinear multi-agent systems

2021 ◽  
pp. 107754632110340
Author(s):  
Jia Wu ◽  
Ning Liu ◽  
Wenyan Tang
Keyword(s):  
Control Method ◽  
Sufficient Conditions ◽  
Data Driven ◽  
The Novel ◽  
Multi Agent Systems ◽  
Tracking Errors ◽  
Agent Systems ◽  
Model Free ◽  
Strongly Connected ◽  
Multi Agent

This study investigates the tracking consensus problem for a class of unknown nonlinear multi-agent systems A novel data-driven protocol for this problem is proposed by using the model-free adaptive control method To obtain faster convergence speed, one-step-ahead desired signal is introduced to construct the novel protocol Here, switching communication topology is considered, which is not required to be strongly connected all the time Through rigorous analysis, sufficient conditions are given to guarantee that the tracking errors of all agents are convergent under the novel protocol Examples are given to validate the effectiveness of results derived in this article

scholarly journals Event-Triggered Bipartite Consensus of Single-Integrator Multi-Agent Systems with Measurement Noise

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Cui-Qin Ma ◽  
Yun-Bo Zhao ◽  
Wei-Guo Sun
Keyword(s):  
Sufficient Conditions ◽  
Measurement Noise ◽  
Mean Square ◽  
Multi Agent Systems ◽  
Negative Effects ◽  
Consensus Protocol ◽  
Agent Systems ◽  
Multi Agent ◽  
Bipartite Consensus ◽  
Event Triggered

Event-triggered bipartite consensus of single-integrator multi-agent systems is investigated in the presence of measurement noise. A time-varying gain function is proposed in the event-triggered bipartite consensus protocol to reduce the negative effects of the noise corrupted information processed by the agents. Using the state transition matrix, Ito^ formula, and the algebraic graph theory, necessary and sufficient conditions are given for the proposed protocol to yield mean square bipartite consensus. We find that the weakest communication requirement to ensure the mean square bipartite consensus under event-triggered protocol is that the signed digraph is structurally balanced and contains a spanning tree. Numerical examples validated the theoretical findings where the system shows no Zeno behavior.

scholarly journals Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Haiying Ma ◽  
Xiao Jia ◽  
Ning Cai ◽  
Jianxiang Xi
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Convergence Speed ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Control Gain ◽  
Multi Agent ◽  
The Stability ◽  
Theoretical Results

In this paper, adaptive guaranteed-performance consensus control problems for multiagent systems with an adjustable convergence speed are investigated. A novel adaptive guaranteed-performance consensus protocol is proposed, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained and the guaranteed-performance cost is determined. Moreover, the lower bound of the convergence coefficient for multiagent systems is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

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