Robust distributed adaptive consensus for linear multiagent systems with uncertain topologies

2021 ◽  
pp. 014233122110605
Author(s):  
Wenchao Huang ◽  
Chengrong Lin ◽  
Bo Hu ◽  
Tao Niu
Keyword(s):  
Adaptive Control ◽  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Homogeneous Markov Chain ◽  
Consensus Control ◽  
Distributed Adaptive Control ◽  
Communication Topology ◽  
Parameter Dependent ◽  
Partly Unknown Transition Rates

This paper focuses on the robust mean-square consensus control problem for linear multiagent systems over randomly switching signed interaction topologies. The stochastic process is governed by a time-homogeneous Markov chain with partly unknown transition rates. Sufficient conditions for a consensus in the form of linear matrix inequalities are given via distributed adaptive control based on parameter-dependent Lyapunov functions. The adaptive control protocols require only the neighbor information of the agents, and the algorithm that designs the protocols reduces the influence of the communication topology on the consensus, which can prevent undesirable interaction impacts. Moreover, the disturbance rejection problem is addressed as an extension. Finally, two simulations are utilized to illustrate the effectiveness of the algorithms.

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 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 Limited-Budget Formation Control for High-Order Linear Swarm Systems with Fix Topologies

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Hongtao Dang ◽  
Le Wang ◽  
Yan Zhang ◽  
Jianye Yang
Keyword(s):  
Formation Control ◽  
Sufficient Conditions ◽  
Inequality Constraints ◽  
High Order ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Order Linear ◽  
Limited Budget ◽  
Communication Topology ◽  
Formation Design

This paper discusses limited-budget time-varying formation design and analysis problems for a high-order linear swarm system with a fixed communication topology. Firstly, the communication topology among agents is modeled as an undirected and connected graph, and a new formation control protocol with an energy integral term is proposed to realize formation control and to guarantee the practical energy assumption is less than the limited energy budget. Then, by the matrix inequality tool, sufficient conditions for limited-budget formation design and analysis are proposed, respectively, which are scalable and checkable since they are independent of the number of agents of a swarm system and can be transformed into linear matrix inequality constraints. Moreover, an explicit expression of the formation center function is given, which contains the formation function part and the cooperative state part and is not associated with the derivatives of the formation functions. Finally, a numerical simulation is shown to demonstrate the effectiveness of theoretical results.

Robust State-Feedback Controller Design for Uncertainty Singular Systems

2011 ◽  
Vol 383-390 ◽  
pp. 32-37
Author(s):  
Li Ming Liang ◽  
Fa Lu Weng ◽  
Yuan Chun Ding
Keyword(s):  
Controller Design ◽  
Singular Systems ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Robust Controller ◽  
Uncertain Singular Systems ◽  
Stability And Stabilization ◽  
The Stability ◽  
Parameter Dependent ◽  
Robust Stability And Stabilization

In this paper the problem of robust stability and stabilization of a class of uncertain singular Systems with uncertainties in both the derivative and state matrices is studied. By using a parameter dependent Lyapunov function, we derive the linear matrix inequalities (LMIs) based sufficient conditions for the stability and stabilization of the system. By solving these LMIs, the robust controller is derived. Finally, the numerical example is given to show the effectiveness of the proposed theorems.

scholarly journals Robust Protocol-Based ℋ∞ Consensus Control of Time-Varying Uncertain Multiagent Systems Subject to Missing Measurements

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-13
Author(s):  
Mengmeng Sun ◽  
Dongyan Chen
Keyword(s):  
Multiagent Systems ◽  
Controller Design ◽  
Signal Transmission ◽  
Sufficient Conditions ◽  
Random Variables ◽  
Time Varying ◽  
Missing Measurements ◽  
Consensus Control ◽  
Consensus Criterion ◽  
Analysis Methodology

In this paper, we consider the design problem of a robust ℋ∞ consensus controller for discrete time-varying uncertain multiagent systems (DTVUMASs) with stochastic communication protocol (SCP) and missing measurements. The SCP is described by a set of random variables with a known probability to arrange signal transmission of addressed multiagent systems. Moreover, we depict the missing measurement phenomenon by a sequence of Bernoulli-distributed random variables having known probabilities. The controller parameters are designed to ensure that the closed-loop DTVUMASs satisfy the ℋ∞ performance with the satisfactory consensus criterion. Together with the completing squares approach and the stochastic analysis methodology, some sufficient conditions are proposed by solving coupled backward recursive Riccati difference equations (BRRDEs) to guarantee the ℋ∞ consensus performance. Finally, we present a numerical simulation example to illustrate the effectiveness of the designed controller design scheme.

scholarly journals Consensus Analysis for a Class of Heterogeneous Multiagent Systems with Time Delay Based on Frequency Domain Method

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Yi-Jie Sun ◽  
Guo-liang Zhang ◽  
Jing Zeng
Keyword(s):  
Time Delay ◽  
Frequency Domain ◽  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Frequency Domain Method ◽  
Consensus Protocol ◽  
Consensus Analysis ◽  
Domain Method ◽  
Communication Topology ◽  
System Coupling

The consensus problem of heterogeneous multiagent systems composed of first-order and second-order agent is investigated. A linear consensus protocol is proposed. Based on frequency domain method, the sufficient conditions of achieving consensus are obtained. If communication topology contains spanning tree and some conditions can be satisfied on control gains, consensus can be achieved. Then, a linear consensus protocol with time delay is proposed. In this case, consensus is dependent only on system coupling strength, each agent input time delay, but independent of communication delay. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical result.

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