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.

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.

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.

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.

Controllability of Discrete-Time Multi-Agent Systems with Leaders via Switching Topology

2011 ◽  
Vol 128-129 ◽  
pp. 92-95 ◽  
Author(s):  
Bo Liu ◽  
Wei Na Hu ◽  
Jie Zhang
Keyword(s):  
Discrete Time ◽  
Switching Topology ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Neighbor Interaction ◽  
Agent System ◽  
Agent Systems ◽  
Controllability Of Systems ◽  
Multi Agent ◽  
Theoretical Results

This paper investigates the controllability of discrete-time multi-agent systems with leaders via switching topology. The results show that a multi-agent system can be switching controllable even if each of its subsystem is not controllable, by appropriately selecting some agents as the leaders and suitably designing the neighbor-interaction rules via a switching topology. Meanwhile, the controllability of systems can be only determined by the information from the leaders to the followers. Example and simulations are given to illustrate 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

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