scholarly journals Distributed Coordination Control of First- and Second-Order Multiagent Systems with External Disturbances

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Lipo Mo ◽  
Tingting Pan ◽  
Shaoyan Guo ◽  
Yuguang Niu
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Model Transformation ◽  
Sufficient Conditions ◽  
Second Order ◽  
Distributed Coordination ◽  
Coordination Control ◽  
External Disturbances ◽  
Simulation Results ◽  
Control Output

This paper is devoted to the coordination control problem of heterogeneous first- and second-order multiagent systems with external disturbances. First, by applying the theory of eigenvalue and the method of model transformation, the consensus state of heterogeneous multiagent systems is obtained. Then, based on the consensus state, the control output is defined, and sufficient conditions are derived to make all agents reach consensus withH∞performance. Finally, simulation results are provided to demonstrate the effectiveness of the presented results.

scholarly journals Impulsive Flocking of Dynamical Multiagent Systems with External Disturbances

2017 ◽  
Vol 2017 ◽  
pp. 1-6
Author(s):  
Fujun Han ◽  
Yize Yang ◽  
Hong-Yong Yang
Keyword(s):  
Multiagent Systems ◽  
Disturbance Observer ◽  
Impulsive Control ◽  
Sufficient Condition ◽  
Complex Environment ◽  
Theoretical Conclusion ◽  
External Disturbances ◽  
Exogenous Disturbances ◽  
Simulation Results ◽  
Flocking Motion

Flocking motion of multiagent systems is influenced by various external disturbances in complex environment. By applying disturbance observer, flocking of multiagent systems with exogenous disturbances is studied. Based on the robust features of impulsive control, a distributed impulsive control protocol is presented with disturbance observer, and flocking motion of multiagent systems is analyzed. Moreover, a sufficient condition is obtained to ensure the flocking motion of multiagent systems following a leader. Finally, simulation results show the validity of the theoretical conclusion.

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.

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

2007 ◽  
Vol 129 (5) ◽  
pp. 708-715 ◽  
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.

scholarly journals Distributed Consensus Tracking for Second-Order Nonlinear Multiagent Systems with a Specified Reference State

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Guoguang Wen ◽  
Yongguang Yu ◽  
Zhaoxia Peng ◽  
Ahmed Rahmani
Keyword(s):  
Multiagent Systems ◽  
Matrix Theory ◽  
Sufficient Conditions ◽  
Second Order ◽  
Lyapunov Theory ◽  
Reference Trajectory ◽  
Distributed Consensus ◽  
Consensus Tracking ◽  
Velocity Information ◽  
Virtual Leader

This paper mainly addresses the distributed consensus tracking problem for second-order nonlinear multiagent systems with a specified reference trajectory. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position and velocity information of its neighbors. The consensus reference is taken as a virtual leader, whose output is only its position and velocity information that is available to only a subset of a group of followers. To achieve consensus tracking, a class of nonsmooth control protocols is proposed which reply on the relative information among the neighboring agents. Then some corresponding sufficient conditions are derived. It is shown that if the communication graph associated with the virtual leader and followers is connected at each time instant, the consensus can be achieved at least globally exponentially with the proposed protocol. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Finally, numerical examples are presented to illustrate the theoretical analysis.

Stochastic Consensus Control of Second-Order Nonlinear Multiagent Systems With External Disturbances

2018 ◽  
Vol 5 (4) ◽  
pp. 1585-1596 ◽  
Author(s):  
Huihui Ji ◽  
Hai-Tao Zhang ◽  
Zhiyong Ye ◽  
He Zhang ◽  
Bowen Xu ◽  
...  
Keyword(s):  
Multiagent Systems ◽  
Second Order ◽  
External Disturbances ◽  
Consensus Control

Robust H∞ control of stochastic linear systems with input delay by predictor feedback

2017 ◽  
Vol 40 (7) ◽  
pp. 2396-2407
Author(s):  
Ali Javadi ◽  
Mohammad Reza Jahed-Motlagh ◽  
Ali Akbar Jalali
Keyword(s):  
Linear Systems ◽  
Multiplicative Noise ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
External Disturbances ◽  
Delayed Systems ◽  
Simulation Results ◽  
Stochastic Linear Systems

This study investigates the prediction-based (dynamic) stabilization of linear systems with input delay in the presence of external disturbances and multiplicative noise modelled as Itô type stochastic differential equations. Conventional memory-less (static) controllers are widely used for the stabilization of both deterministic and stochastic delayed systems. However, using these methods the upper bound for delay is strongly restricted. Motivated by acceptable performances of dynamic controllers for deterministic delayed systems, the extension of these methods for stochastic delayed systems is considered in this paper. The structure of the dynamic controller for stabilization of stochastic delayed systems is firstly derived utilizing the prediction vector. Then two sufficient conditions are given in the form of linear matrix inequalities that in the case of feasibility provide the stabilizing gain of the controller. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

Rigid Formation Control of Nonholonomic Multi-Agents

2007 ◽  
Author(s):  
D. H. A. Maithripala ◽  
Sangbum Woo ◽  
S. Jayasuriya
Keyword(s):  
Lower Bound ◽  
Control Problem ◽  
Mobile Agents ◽  
Formation Control ◽  
Sufficient Conditions ◽  
Explicit Consideration ◽  
Simulation Results ◽  
Multi Agents

In this paper we address the formation control problem of maintaining rigid formation for a group of nonholonomic mobile agents. Explicit consideration of actuator limits at a higher level of control in designing formation trajectories that can theoretically result in zero formation error is the main contribution we make. In particular we consider a positive lower bound on the agent speed, to account for stall speeds of fixed winged UAVs. We provide sufficient conditions on the controls that would ensure feasible formation trajectories. The approach we propose is supported with preliminary simulation results.

scholarly journals On an optimal control problem involving second order hyperbolic systems with boundary controls

1983 ◽  
Vol 27 (1) ◽  
pp. 139-148 ◽  
Author(s):  
K.G. Choo ◽  
K.L. Teo ◽  
Z.S. Wu
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Hyperbolic Systems ◽  
Sufficient Conditions ◽  
Second Order ◽  
Optimal Controls ◽  
Convergence Properties ◽  
Boundary Controls ◽  
Necessary And Sufficient

In this paper, we consider an optimal control problem involving second-order hyperbolic systems with boundary controls. Necessary and sufficient conditions are derived and a result on the existence of optimal controls is obtained. Also, a computational algorithm which generated minimizing sequences of controls is devised and the convergence properties of the algorithm are investigated.

scholarly journals Energy-Limited Time-Varying Formation Control for Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wanzhen Quan ◽  
Yulong Zhao ◽  
Le Wang ◽  
Xiaogang Yang
Keyword(s):  
Control Problem ◽  
Total Energy ◽  
Multiagent Systems ◽  
Formation Control ◽  
Orthogonal Transformation ◽  
Second Order ◽  
Time Varying ◽  
Limited Time ◽  
Leader Following ◽  
Energy Limitation

The energy-limited time-varying formation (ETVF) control problem of second-order multiagent systems (MAS) is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results.

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