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.

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.

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.

scholarly journals Formation Control of Multi-Agent Systems with Region Constraint

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Zhengquan Yang ◽  
Qing Zhang ◽  
Zengqiang Chen
Keyword(s):  
Formation Control ◽  
Convex Set ◽  
Local Information ◽  
Control Law ◽  
Multi Agent Systems ◽  
Numerical Examples ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results ◽  
Multi Agents

In this paper, the formation problem for multi-agent systems with region constraint is studied while few researchers consider this problem. The goal is to control all multi-agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.

scholarly journals Event-Triggered Cluster Consensus of Leader-Following Linear Multi-Agent Systems

2018 ◽  
Vol 8 (4) ◽  
pp. 293-302 ◽  
Author(s):  
Bin Xu ◽  
Wangli He
Keyword(s):  
Sufficient Conditions ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Event Time ◽  
Control Scheme ◽  
Directed Spanning Tree ◽  
Leader Following ◽  
Multi Agent ◽  
Cluster Consensus ◽  
Event Triggered

Abstract This paper is concerned with cluster consensus of linear multi-agent systems via a distributed event-triggered control scheme. Assume that agents can be split into several clusters and a leader is associated with each cluster. Sufficient conditions are derived to guarantee the realization of cluster consensus by a feasible event-triggered controller if the network topology of each cluster has a directed spanning tree and the couplings within each cluster are sufficiently strong. Further, positive inner-event time intervals are ensured for the proposed event-triggered strategy to avoid Zeno behaviors. Finally, a numerical example is given to illustrate the effectiveness of the 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.

scholarly journals Group multiple lags consensus of fractional-order nonlinear leader-following multi-agent systems via adaptive control

2018 ◽  
Vol 41 (5) ◽  
pp. 1313-1322 ◽  
Author(s):  
Yunlong Zhang ◽  
Guoguang Wen ◽  
Zhaoxia Peng ◽  
Yongguang Yu ◽  
Ahmed Rahmani
Keyword(s):  
Adaptive Control ◽  
Fractional Order ◽  
Sufficient Conditions ◽  
Multi Agent Systems ◽  
Group Leaders ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Control Protocols ◽  
Multiple Lags

In this paper, group multiple lags consensus of fractional-order leader-following multi-agent systems with nonlinear dynamics are investigated, in which two kinds of lag consensus are considered. One is said to be outergroup lag consensus, which means that different group leaders reach lag consensus. The other one is called innergroup lag consensus, that is to say, the followers will reach lag consensus with their own group leader. Based on Mittag–Leffler stability for fractional-order systems, algebraic graph theory, a class of novel control protocols is designed and the corresponding sufficient conditions are derived to guarantee the achievement of group multiple lags consensus. Furthermore, considering parametric uncertainties, an adaptive control technology is employed to solve the group multiple lags consensus for fractional order multi-agent systems, and the corresponding adaptive control protocols and sufficient conditions are proposed. Finally, numerical simulations are given to demonstrate the effectiveness of the obtained 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.

Leader-following H∞ consensus of discrete-time nonlinear multi-agent systems based upon output feedback control

2019 ◽  
Vol 42 (7) ◽  
pp. 1323-1333
Author(s):  
Shuang Liang ◽  
Zhongxin Liu ◽  
Zengqiang Chen
Keyword(s):  
Control Problem ◽  
Discrete Time ◽  
Output Feedback ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

In this paper, the leader-following [Formula: see text] consensus problem for discrete-time nonlinear multi-agent systems with delay and parameter uncertainty is investigated, with the objective of designing an output feedback protocol such that the multi-agent system achieves leader-following consensus and has a prescribed [Formula: see text] performance level. By model transforming, the leader-following consensus control problem is converted into robust [Formula: see text] control problem. Based on the Lyapunov function technology and the linear matrix inequality method, some new sufficient conditions are derived to guarantee the consensus of discrete-time nonlinear multi-agent systems. The feedback gain matrix and the optimal [Formula: see text] performance index are obtained in terms of linear matrix inequalities. Finally, numerical examples are provided to illustrate the effectiveness of the 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.

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