scholarly journals Leader-Follower Fixed-Time Group Consensus Control of Multiagent Systems under Directed Topology

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Yilun Shang ◽  
Yamei Ye
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Initial Conditions ◽  
Fixed Time ◽  
Local Information ◽  
Convergence Time ◽  
Group Consensus ◽  
Consensus Control ◽  
Directed Topology ◽  
Theoretical Results

This paper investigates the fixed-time group consensus problem for a leader-follower network of integrators with directed topology. A nonlinear distributed control protocol, based on local information, is proposed such that the follower agents in each subgroup are able to track their corresponding leaders in a prescribed convergence time regardless of the initial conditions. Simulation examples are presented to demonstrate the availability of our theoretical results.

scholarly journals A New Algorithm for Distributed Control Problem with Shortest-Distance Constraints

2016 ◽  
Vol 2016 ◽  
pp. 1-6
Author(s):  
Yu Zhou ◽  
Wenfeng Zheng ◽  
Zhixi Shen
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Local Information ◽  
Common Point ◽  
Consensus Algorithm ◽  
Time Dynamics ◽  
Shortest Distance ◽  
Distributed Control Problem ◽  
Distance Problem ◽  
Theoretical Results

This paper investigates the distributed shortest-distance problem of multiagent systems where agents satisfy the same continuous-time dynamics. The objective of multiagent systems is to find a common point for all agents to minimize the sum of the distances from each agent to its corresponding convex region. A distributed consensus algorithm is proposed based on local information. A sufficient condition also is given to guarantee the consensus. The simulation example shows that the distributed shortest-distance consensus algorithm is effective for our theoretical results.

scholarly journals Fixed-Time Connectivity Preserving Tracking Consensus of Multiagent Systems with Disturbances

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Fenglan Sun ◽  
Peiyong Liu ◽  
Jürgen Kurths ◽  
Wei Zhu
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Nonsmooth Analysis ◽  
Sliding Mode ◽  
Sufficient Conditions ◽  
Fixed Time ◽  
Convergence Time ◽  
Upper And Lower Bounds ◽  
Analysis Method ◽  
Limited Sensing

This text studies the fixed-time tracking consensus for nonlinear multiagent systems with disturbances. To make the fixed-time tracking consensus, the distributed control protocol based on the integral sliding mode control is proposed; meanwhile, the adjacent followers can be maintained in a limited sensing range. By using the nonsmooth analysis method, sufficient conditions for the fixed-time consensus together with the upper and lower bounds of convergence time are obtained. An example is given to illustrate the potential correctness of the main results.

scholarly journals Three-Dimensional Prescribed-Time Pinning Group Cooperative Guidance Law

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Wenhui Ma ◽  
Xiaogeng Liang ◽  
Yangwang Fang ◽  
Tianbo Deng ◽  
Wenxing Fu
Keyword(s):  
Initial Conditions ◽  
Three Dimensional ◽  
Engineering Application ◽  
Fixed Time ◽  
Convergence Time ◽  
Group Consensus ◽  
Guidance Law ◽  
Time Scaling ◽  
Cooperative Guidance ◽  
Two Stages

In order to overcome the drawbacks of the convergence time boundary dependent on tuning parameters in existing finite/fixed-time cooperative guidance law, this paper presents a three-dimensional prescribed-time pinning group cooperative guidance scheme that ensures multiple unpowered missiles to intercept multiple stationary targets. Firstly, combining a prescribed-time scaling function with pinning group consensus theory, the prescribed-time consensus-based cooperative guidance law is proposed. Secondly, the prescribed-time convergence of the proposed pinning group consensus-based cooperative guidance law proves that the convergence can be achieved at a specified time, regardless of initial conditions and parameters. Furthermore, the design steps including two stages of the proposed guidance law are given for engineering application. Extensive simulations are carried out in three cases to verify the properties. Simulation results show the effectiveness and superiority of the proposed prescribed-time consensus-based cooperative guidance scheme.

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.

scholarly journals Group Consensus with a Dynamic Leader for Multiagent Systems via Sampled-Data Control

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Multiagent Systems ◽  
Matrix Theory ◽  
Sampling Period ◽  
Group Consensus ◽  
Sampled Data ◽  
Ultimate Boundedness ◽  
Tracking Errors ◽  
Data Control ◽  
Sampled Data Control ◽  
Theoretical Results

This paper considers a group consensus problem with a dynamic leader for multiagent systems in a sampled-data setting. With the leader’s state available to only a fraction of the followers, a distributed linear protocol based on sampled-data control is proposed for group consensus under fixed directed topology. On basis ofM-matrix theory, we derive a sufficient condition on the sampling period and the control parameter for ultimate boundedness of the tracking errors. Furthermore, simulation examples are provided to demonstrate the effectiveness of the theoretical results.

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

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.

scholarly journals Distributed Adaptive Fixed-Time Tracking Consensus Control for Multiple Uncertain Nonlinear Strict-Feedback Systems under a Directed Graph

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Pinwei Li ◽  
Jiyang Dai ◽  
Jin Ying ◽  
Zhe Zhang ◽  
Cheng He
Keyword(s):  
Directed Graph ◽  
Control Strategy ◽  
Design Procedure ◽  
Fixed Time ◽  
Convergence Time ◽  
Approximation Technique ◽  
Feedback Systems ◽  
Consensus Control ◽  
Consensus Tracking ◽  
Strict Feedback

In this brief, we study the distributed adaptive fixed-time tracking consensus control problem for multiple strict-feedback systems with uncertain nonlinearities under a directed graph topology. It is assumed that the leader’s output is time varying and has been accessed by only a small fraction of followers in a group. The distributed fixed-time tracking consensus control is proposed to design local consensus controllers in order to guarantee the consensus tracking between the followers and the leader and ensure the error convergence time is independent of the systems’ initial state. The function approximation technique using radial basis function neural networks (RBFNNs) is employed to compensate for unknown nonlinear terms induced from the controller design procedure. From the Lyapunov stability theorem and graph theory, it is shown that, by using the proposed fixed-time control strategy, all signals in the closed-loop system and the consensus tracking errors are cooperatively semiglobally uniformly bounded and the errors converge to a neighborhood of the origin within a fixed time. Finally, the effectiveness of the proposed control strategy has been proved by rigorous stability analysis and two simulation examples.

Robust fixed-time formation control for quadrotor unmanned aerial vehicles with directed topology

2021 ◽  
pp. 014233122110325
Author(s):  
Shikai Shao ◽  
Yuanjie Zhao ◽  
Xiaojing Wu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Finite Time ◽  
Formation Control ◽  
Controller Design ◽  
Initial Conditions ◽  
Fixed Time ◽  
Settling Time ◽  
Lyapunov Theory ◽  
Directed Topology ◽  
Aerial Vehicles

Formation control is one of the key technologies for multiple unmanned aerial vehicles (UAVs). Compared with asymptotic or finite-time controllers, fixed-time controller can provide a guaranteed settling time, which does not depend on initial conditions and is an appealing property for controller design. Thus, robust fixed-time formation controller design for quadrotor UAVs under external disturbance and directed topology is investigated in this paper. A multi-variable super-twisting like integral sliding mode surface and a disturbance observer are respectively designed for position and attitude loops to guarantee robustness. Bi-limit homogeneity is utilized to design the whole closed-loop fixed-time controllers. By skillfully using bi-limit homogeneity technique and Lyapunov theory, the comprehensive stability of position and attitude loops is addressed. Finally, the multiple UAVs are utilized to track a pre-planned trajectory in 3D space and simulation results illustrate that the settling time can be reduced about 40% compared with finite-time controllers.

scholarly journals Consensus of Delayed Fractional-Order Multiagent Systems Based on State-Derivative Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li
Keyword(s):  
Graph Theory ◽  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
Multiagent System ◽  
Frequency Domain Analysis ◽  
Consensus Control ◽  
Control Protocol ◽  
Analysis Theory ◽  
Theoretical Results

A state-derivative feedback (SDF) is added into the designed control protocol in the existing paper to enhance the robustness of a fractional-order multiagent system (FMS) against nonuniform time delays in this paper. By applying the graph theory and the frequency-domain analysis theory, consensus conditions are derived to make the delayed FMS based on state-derivative feedback reach consensus. Compared with the consensus control protocol designed in the existing paper, the proposed SDF control protocol with nonuniform time delays can make the FMS with SDF and nonuniform time delays tolerate longer time delays, which means that the convergence speed of states of the delayed FMS with SDF is accelerated indirectly. Finally, the corresponding results of simulation are given to verify the feasibility of our theoretical results.

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