scholarly journals Second-Order Consensus in Multiagent Systems via Nonlinear Protocol

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Huan Pan ◽  
Xiaohong Nian ◽  
Ling Guo
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Invariance Principle ◽  
Lyapunov Functions ◽  
Multiagent System ◽  
Second Order ◽  
General Linear ◽  
Reference Velocity ◽  
Communication Topology ◽  
Lasalle's Invariance Principle

This paper focuses on theoretical analysis of second-order consensus in multiagent system. As an extension of the general linear protocol, a nonlinear protocol is designed for multiagent system with undirected communication topology. The nonlinear protocol is also applied to achieve reference velocity consensus. Through choosing the appropriate Lyapunov functions and using LaSalle’s invariance principle, some consensus conditions are derived. Simulation examples are provided to demonstrate the effectiveness of the proposed results.

Consensus Analysis and Formation Control of Second-Order Multiagent Systems Via Nonlinear Protocol

2013 ◽  
Vol 8 (3) ◽  
Author(s):  
Huan Pan ◽  
Xiaohong Nian ◽  
Ling Guo
Keyword(s):  
Multiagent Systems ◽  
Invariance Principle ◽  
Control Strategy ◽  
Formation Control ◽  
Multiagent System ◽  
Sufficient Conditions ◽  
Second Order ◽  
General Linear ◽  
Communication Graph ◽  
Consensus Analysis

This paper mainly investigates consensus and formation control of second-order multiagent system with undirected communication graph. A nonlinear protocol is proposed as an extension of general linear protocols that have been widely studied. In order to achieve formation control, a formation control strategy corresponding to the nonlinear protocol is designed too. The sufficient conditions of consensus and formation are derived based on LaSalle's invariance principle. Simulation examples are provided to illustrate that the second-order multiagent with the nonlinear protocol can achieve consensus and formation.

scholarly journals Multiconsensus of Second-Order Multiagent Systems with Input Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Jie Chen ◽  
Ming Chi ◽  
Zhi-Hong Guan ◽  
Rui-Quan Liao ◽  
Ding-Xue Zhang
Keyword(s):  
Hopf Bifurcation ◽  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Upper Bound ◽  
Multiagent System ◽  
Second Order ◽  
Matrix Analysis ◽  
Simulation Results ◽  
Input Delays ◽  
Double Integrator

The multiconsensus problem of double-integrator dynamic multiagent systems has been investigated. Firstly, the dynamic multiconsensus, the static multiconsensus, and the periodic multiconsensus are considered as three cases of multiconsensus, respectively, in which the final multiconsensus convergence states are established by using matrix analysis. Secondly, as for the multiagent system with input delays, the maximal allowable upper bound of the delays is obtained by employing Hopf bifurcation of delayed networks theory. Finally, simulation results are presented to verify the theoretical analysis.

scholarly journals Formation-Containment Control of Second-Order Multiagent Systems via Intermittent Communication

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Mao-Dong Xia ◽  
Cheng-Lin Liu ◽  
Fei Liu
Keyword(s):  
Multiagent Systems ◽  
Lyapunov Functions ◽  
Second Order ◽  
Control Algorithms ◽  
Distributed Coordination ◽  
Time Intervals ◽  
Containment Control ◽  
Convergence Conditions ◽  
Intermittent Communication ◽  
Theoretical Results

This paper investigates the formation-containment control of second-order multiagent systems with intermittent communication. Distributed coordination control algorithms are proposed under aperiodic intermittent communication, where each agent only communicates with its neighboring agents on some disconnected time intervals. By means of constructing Lyapunov functions, sufficient convergence conditions are obtained for the leaders reaching a prescribed formation asymptotically and the followers converging into the convex hull formed by leaders asymptotically, respectively. Besides, sufficient convergence conditions are also provided for second-order multiagent systems converging to the desired formation-containment under time-varying communication delay and intermittent communication. Finally, the validity of theoretical results is illustrated by numerical simulations.

scholarly journals Cucker-Smale Flocking with Bounded Cohesive and Repulsive Forces

2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Qiang Song ◽  
Fang Liu ◽  
Jinde Cao ◽  
Jianlong Qiu
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Initial Energy ◽  
Second Order ◽  
Initial State ◽  
Numerical Examples ◽  
Mild Conditions ◽  
Two Agents ◽  
Repulsive Forces

This paper proposes two Cucker-Smale-type flocking models by introducing both cohesive and repulsive forces to second-order multiagent systems. Under some mild conditions on the initial state of the flocking system, it is shown that the velocity consensus of the agents can be reached independent of the parameter which describes the decay of communication rates. In particular, the collision between any two agents can always be avoided by designing an appropriate bounded repulsive function based on the initial energy of the flock. Numerical examples are given to demonstrate the effectiveness of the theoretical analysis.

scholarly journals Controllability of Second-Order Multiagent Systems with Multiple Leaders and General Dynamics

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Bo Liu ◽  
Hongke Feng ◽  
Li Wang ◽  
Rong Li ◽  
Junyan Yu ◽  
...  
Keyword(s):  
Multiagent Systems ◽  
Multiagent System ◽  
Necessary Conditions ◽  
Second Order ◽  
The Other ◽  
Numerical Examples ◽  
General Dynamics ◽  
Sufficient And Necessary Conditions ◽  
Multiple Leaders ◽  
Theoretical Results

This paper proposes a new second-order discrete-time multiagent model and addresses the controllability of second-order multiagent system with multiple leaders and general dynamics. The leaders play an important role in governing the other member agents to achieve any desired configuration. Some sufficient and necessary conditions are given for the controllability of the second-order multiagent system. Moreover, the speed controllability of the second-order multiagent system with general dynamics is discussed. Particularly, it is shown that the controllability of the whole system relies on the number of leaders and the connectivity between the leaders and the members. Numerical examples illustrate the theoretical results.

scholarly journals Cluster Anticonsensus of Multiagent Systems Based on theQ-Theory

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Liping Zhang ◽  
Haibo Jiang ◽  
Shuguang Guo
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Invariance Principle ◽  
Sufficient Conditions ◽  
Continuous Systems ◽  
Lasalle’S Invariance Principle ◽  
Control Protocol ◽  
Discrete Time Systems ◽  
Time Systems ◽  
Lasalle's Invariance Principle

We investigate the problem of cluster anticonsensus of multiagent systems. For multiagent continuous systems, a new control protocol is designed based on theQ-theory. Then by LaSalle's invariance principle we prove that if the graph is connected and bipartite, then the cluster anticonsensus is achieved by the proposed control protocol. On the other hand, a similar control protocol is designed for multiagent discrete-time systems. Then, sufficient conditions are given to guarantee the cluster anticonsensus of multiagent discrete-time systems by using theQ-theory and LaSalle's invariance principle. Numerical simulations show the effectiveness of our theoretical results.

scholarly journals Second-Order Containment Control of Multiagent Systems in the Presence of Uncertain Topologies with Time-Varying Delays

2017 ◽  
Vol 2017 ◽  
pp. 1-7 ◽  
Author(s):  
Fuyong Wang ◽  
Hongyong Yang ◽  
Zhongxin Liu ◽  
Zengqiang Chen
Keyword(s):  
Multiagent Systems ◽  
Control Algorithm ◽  
Sufficient Conditions ◽  
Second Order ◽  
Linear Matrix ◽  
Time Varying ◽  
Containment Control ◽  
Communication Topology ◽  
The Stability ◽  
Switching Communication Topologies

This paper considers the containment control problem of second-order multiagent systems in the presence of time-varying delays and uncertainties with dynamically switching communication topologies. Moreover, the control algorithm is proposed for containment control, and the stability of the proposed containment control algorithm is studied with the aid of Lyapunov-Krasovskii function when the communication topology is jointly connected. Some sufficient conditions in terms of linear matrix inequalities (LMIs) are provided for second-order containment control with multiple stationary leaders. Finally, simulations are given to verify the effectiveness of the obtained theoretical results.

scholarly journals A Robust Observer—Based Adaptive Control of Second—Order Systems with Input Saturation via Dead-Zone Lyapunov Functions

Computation ◽  
2021 ◽  
Vol 9 (8) ◽  
pp. 82
Author(s):  
Alejandro Rincón ◽  
Gloria M. Restrepo ◽  
Fredy E. Hoyos
Keyword(s):  
Lyapunov Functions ◽  
Dead Zone ◽  
Tracking Error ◽  
Input Saturation ◽  
Chemical Reactor ◽  
Second Order ◽  
Control Law ◽  
Compact Set ◽  
State Variables ◽  
Robust Observer

In this study, a novel robust observer-based adaptive controller was formulated for systems represented by second-order input–output dynamics with unknown second state, and it was applied to concentration tracking in a chemical reactor. By using dead-zone Lyapunov functions and adaptive backstepping method, an improved control law was derived, exhibiting faster response to changes in the output tracking error while avoiding input chattering and providing robustness to uncertain model terms. Moreover, a state observer was formulated for estimating the unknown state. The main contributions with respect to closely related designs are (i) the control law, the update law and the observer equations involve no discontinuous signals; (ii) it is guaranteed that the developed controller leads to the convergence of the tracking error to a compact set whose width is user-defined, and it does not depend on upper bounds of model terms, state variables or disturbances; and (iii) the control law exhibits a fast response to changes in the tracking error, whereas the control effort can be reduced through the controller parameters. Finally, the effectiveness of the developed controller is illustrated by the simulation of concentration tracking in a stirred chemical reactor.

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