Formation Control For Discrete-Time Multi-Agent System With Input and Output Delays Under Network Attacks

2021 ◽  
Author(s):  
Yuan Jian ◽  
Liu Hailin ◽  
Zhang Wenxia
Keyword(s):  
Discrete Time ◽  
Formation Control ◽  
Mean Square ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Network Attacks ◽  
Input And Output ◽  
Multi Agent ◽  
Mean Square Consensus

Abstract This paper addresses the mean square consensus-based formation control for multiple agent system (MAS) with input and output delays under network attacks, process noise, and measurement noise in MAS. Firstly, a time delay-free transformation approach for a multi-agent system with input and output delays is presented. The MAU system is transformed into a formal delay-free discrete-time system using the delay-free transformation method. Then a state observer based on Kalman filter is presented to estimate the states of agents. A distributed predictive consensus protocol based on the estimated states of each MAUS is proposed for the leader-following MAUS. The sufficient and necessary conditions of mean square consensus for MAUS under DoS attacks are derived. Finally, a numerical example of consensus-based formation control for Multi-agent systems is provided to verify the correctness and effectiveness of the proposed consensus control protocol.

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.

scholarly journals Mean-square consensus of discrete-time multi-agent systems with Markovian switching topologies and persistent disturbances

2017 ◽  
Vol 13 (8) ◽  
pp. 155014771772631 ◽  
Author(s):  
Lipo Mo ◽  
Yintao Wang ◽  
Tingting Pan ◽  
Yikang Yang
Keyword(s):  
Discrete Time ◽  
Sufficient Conditions ◽  
Markovian Switching ◽  
Mean Square ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Topologies ◽  
Multi Agent ◽  
Persistent Disturbances ◽  
Mean Square Consensus

This article deals with the leader-following mean-square consensus problem of discrete-time general linear multi-agent systems with Markovian switching topologies and persistent disturbances. Assume that the communication topology is not connected at any time but the union topology is connected. First, the estimators are designed to calculate the states of agents when external disturbance not exists. Based on the error information between the truth-values and estimated-values of states, the compensators are proposed to subject to the effect of persistent disturbances. And then, a new mean-square consensus control protocol is proposed for each agent. Second, by using the property of permutation matrix, the original closed-loop system is transferred into an equivalent system. Third, sufficient conditions for mean-square consensus are obtained in the form of matrix inequalities. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results.

scholarly journals Distributed Adaptive Formation Tracking Control under Fixed and Switching Topologies: Application on General Linear Multi-Agent Systems

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 941
Author(s):  
Tianhao Sun ◽  
Huiying Liu ◽  
Yongming Yao ◽  
Tianyu Li ◽  
Zhibo Cheng
Keyword(s):  
Switching Topology ◽  
General Linear ◽  
Time Varying ◽  
Multi Agent System ◽  
Multi Agent Systems ◽  
Agent System ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Leader Following ◽  
Multi Agent

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

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