scholarly journals Distributed Leader-Following Finite-Time Consensus Control for Linear Multiagent Systems under Switching Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Xiaole Xu ◽  
Shengyong Chen ◽  
Lixin Gao
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Switching Topology ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Dynamical Models ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Leader Following ◽  
Discrete Time Case

This paper investigates the finite-time consensus problem of leader-following multiagent systems. The dynamical models for all following agents and the leader are assumed the same general form of linear system, and the interconnection topology among the agents is assumed to be switching and undirected. We mostly consider the continuous-time case. By assuming that the states of neighbouring agents are known to each agent, a sufficient condition is established for finite-time consensus via a neighbor-based state feedback protocol. While the states of neighbouring agents cannot be available and only the outputs of neighbouring agents can be accessed, the distributed observer-based consensus protocol is proposed for each following agent. A sufficient condition is provided in terms of linear matrix inequalities to design the observer-based consensus protocol, which makes the multiagent systems achieve finite-time consensus under switching topologies. Then, we discuss the counterparts for discrete-time case. Finally, we provide an illustrative example to show the effectiveness of the design approach.

scholarly journals Distributed Finite-Time Consensus Control of Second-Order Multiagent Systems Subject to Communication Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Lingling Fan ◽  
Chengyan Wu
Keyword(s):  
Time Delay ◽  
Finite Time ◽  
Second Order ◽  
Consensus Method ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Time Control ◽  
Control Scheme ◽  
Communication Time ◽  
Leader Following

This paper studies the consensus problem of a second-order multiagent system (MAS) with fixed communication delay under the structure of leaderless and leader-following systems. By using graph theory and finite-time control scheme, a distributed control protocol is proposed for each agent to reach consensus in a finite time. In practical application, the time delay of states is unavoidable, and for this, the consensus method is supposed to be extended to solve the time-delay problem. Thus, a finite-time consensus protocol with communication time delay is proposed in this paper. Compared with the general consensus method, the reliability and convergence speed of the system are increased by using the finite-time control. In addition, the protocol is distributed, and all agents have only local interactions. Finally, the effectiveness of the proposed protocol is verified by two numerical simulations.

scholarly journals Formation Control of Second-Order Multiagent Systems with Time-Varying Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Second Order ◽  
Sufficient Condition ◽  
Time Varying ◽  
Consensus Protocol ◽  
Leader Following ◽  
Multiple Leaders ◽  
Theoretical Results

A formation control problem for second-order multiagent systems with time-varying delays is considered. First, a leader-following consensus protocol is proposed for theoretical preparation. With the help of Lyapunov-Krasovskii functional, a sufficient condition under this protocol is derived for stability of the multiagent systems. Then, the protocol is extended to the formation control based on a multiple leaders’ architecture. It is shown that the agents will attain the expected formation. Finally, some simulations are provided to demonstrate the effectiveness of our theoretical results.

scholarly journals Finite-Time Distributed Energy-to-Peak Control for Uncertain Multiagent Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Qu Chenggang ◽  
Cao Xibin ◽  
Hamid Reza Karimi ◽  
Zhang Zhuo ◽  
Zhang Zexu
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Linear Matrix ◽  
Control Input ◽  
Distributed Energy ◽  
Closed Loop System ◽  
Parameter Uncertainties ◽  
Consensus Control ◽  
Finite Time Boundedness ◽  
Relative States

This paper investigates the finite-time distributedL2–L∞consensus control problem of multiagent systems with parameter uncertainties. The relative states of neighboring agents are used to construct the control law and some agents know their own states. By substituting the control input into multiagent systems, an augmented closed-loop system is obtained. Then, we analyze its finite-time boundedness (FTB) and finite-timeL2–L∞performance. A sufficient condition for the existence of the designed controller is given with the form of linear matrix inequalities (LMIs). Finally, simulation results are described.

scholarly journals Event-Triggered Consensus Control for Leader-Following Multiagent Systems Using Output Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yang Liu ◽  
Xiaohui Hou
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
Output Signal ◽  
Internal State ◽  
Disturbance Attenuation ◽  
External Disturbances ◽  
Consensus Control ◽  
State Information ◽  
Leader Following ◽  
Event Triggered

The event-triggered consensus control for leader-following multiagent systems subjected to external disturbances is investigated, by using the output feedback. In particular, a novel distributed event-triggered protocol is proposed by adopting dynamic observers to estimate the internal state information based on the measurable output signal. It is shown that under the developed observer-based event-triggered protocol, multiple agents will reach consensus with the desired disturbance attenuation ability and meanwhile exhibit no Zeno behaviors. Finally, a simulation is presented to verify the obtained results.

scholarly journals Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies

2019 ◽  
Vol 26 (1) ◽  
pp. 145-152
Author(s):  
Liyuan Wang ◽  
Wei Yue ◽  
Rubo Zhang
Keyword(s):  
Switching Network ◽  
Linear Matrix ◽  
Sampled Data ◽  
Consensus Control ◽  
Unmanned Surface Vehicle ◽  
Control Scheme ◽  
Random Switching ◽  
Leader Following ◽  
Network Topologies ◽  
Wave Induced

Abstract This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance. By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance, a new sampled-data consensus control protocol is proposed. By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation, a novel stability criterion is derived, which ensures that the MUSV system can reach robustly leader-following consensus with H∞ performance satisfied. Based on this criterion, the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.

scholarly journals Impulsive Consensus for Leader-Following Multiagent Systems with Fixed and Switching Topology

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Zhi-Wei Liu ◽  
Zhi-Hong Guan ◽  
Hong Zhou
Keyword(s):  
Multiagent System ◽  
Impulsive Control ◽  
Sampling Period ◽  
Switching Topology ◽  
Sufficient Condition ◽  
Leader Following ◽  
Fixed Topology ◽  
The Stability ◽  
Sampling Instant ◽  
Necessary And Sufficient

This paper studied the consensus problem of the leader-following multiagent system. It is assumed that the state information of the leader is only available to a subset of followers, while the communication among agents occurs at sampling instant. To achieve leader-following consensus, a class of distributed impulsive control based on sampling information is proposed. By using the stability theory of impulsive systems, algebraic graph theory, and stochastic matrices theory, a necessary and sufficient condition for fixed topology and sufficient condition for switching topology are obtained to guarantee the leader-following consensus of the multiagent system. It is found that leader-following consensus is critically dependent on the sampling period, control gains, and interaction graph. Finally, two numerical examples are given to illustrate the effectiveness of the proposed approach and the correctness of theoretical analysis.

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.

Sign in / Sign up

Export Citation Format

Share Document