scholarly journals Fully Distributed Control for a Class of Uncertain Multi-Agent Systems with a Directed Topology and Unknown State-Dependent Control Coefficients

2021 ◽  
Vol 11 (23) ◽  
pp. 11304
Author(s):  
Zongcheng Liu ◽  
Hanqiao Huang ◽  
Sheng Luo ◽  
Wenxing Fu ◽  
Qiuni Li
Keyword(s):  
Tracking Error ◽  
Consensus Method ◽  
Connectivity Matrix ◽  
Multi Agent Systems ◽  
Error Performance ◽  
Agent Systems ◽  
Global Consensus ◽  
Multi Agent ◽  
Unknown System ◽  
Control Coefficients

To address the control of uncertain multi-agent systems (MAS) with completely unknown system nonlinearities and unknown control coefficients, a global consensus method is proposed by constructing novel filters and barrier function-based distributed controllers. The main contributions are as follows. Firstly, a novel two-order filter is designed for each agent to produce informational estimates from the leader, such that a connectivity matrix is not used in the controller's design, solving the difficultly caused by the time-varying control coefficients in a MAS with a directed graph. Secondly, combined with the novel filters, barrier functions are used to construct the distributed controller to deal with the completely unknown system nonlinearities, resulting in the global consensus of the MAS. Finally, it is rigorously proved that the consensus of the MAS is achieved while guaranteeing the prescribed tracking-error performance. Two examples are given to verify the effectiveness of the proposed method, in which the simulation results demonstrate the claims.

scholarly journals Time-varying output formation-tracking of heterogeneous multi-agent systems with time-varying delays and switching topologies

2021 ◽  
Vol 54 (9-10) ◽  
pp. 1371-1382
Author(s):  
Shiyu Zhou ◽  
Yongzhao Hua ◽  
Xiwang Dong ◽  
Jianglong Yu ◽  
Zhang Ren
Keyword(s):  
Tracking Error ◽  
Lyapunov Theory ◽  
Reference Trajectory ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Switching Topologies ◽  
Formation Tracking ◽  
Multi Agent ◽  
Control Feedback

This paper focuses on the time-varying output formation (TVOF) tracking control of heterogeneous linear multi-agent systems (HL-MASs) with both delays and switching topologies, where the followers’ outputs can move along the reference trajectory generated by the leaders and maintain the desired time-varying formation. First, a distributed observer is proposed for each follower, aiming to estimate the convex combination of leaders’ state with both communication delays and switching graphs. The observer’s error for heterogeneous MASs is analyzed based on Lyapunov theory and linear matrix inequality (LMI) technique. Second, the observer is incorporated into the output formation tracking protocol. Then, an algorithm is put forward to calculate the control feedback gains and the formation tracking feasibility constraint is also provided. Furthermore, the convergence of the formation tracking error is proved. At last, the effectiveness of this proposed method is validated through a numerical simulation.

A novel bipartite consensus tracking scheme for unknown nonlinear multi-agent systems: Theoretical analysis and applications

2021 ◽  
pp. 095965182110609
Author(s):  
Huarong Zhao ◽  
Li Peng ◽  
Peiliang Wu ◽  
Hongnian Yu
Keyword(s):  
Tracking Error ◽  
Data Driven ◽  
Small Range ◽  
Distributed Data ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent ◽  
Bipartite Consensus ◽  
Virtual Leader

This article proposes a novel distributed data-driven bipartite consensus tracking scheme for bipartite consensus tracking problems of multi-agent systems with bounded disturbances and coopetition networks. The proposed scheme only uses the input/output data of each agent without requiring the agents’ dynamics. We obtain the equivalent dynamic linearization data model for a controlled plant using the dynamic linearization technique based on the pseudo partial derivative. Considering the cooperative and competitive interactions among agents, the proposed method ensures that agents with adversarial relationships implement bipartite consensus tracking tasks even if only a subset of agents can access the information from the virtual leader. Moreover, the strict proof process of convergence properties reveals that the tracking error coverages to a small range around the origin. We also establish a set of software and hardware platform to demonstrate the effectiveness of the proposed distributed data-driven bipartite consensus tracking method.

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