Search

This paper studies the consensus problem of a new multi-agent system via multi-task, multi-control mechanism and multi-consensus strategy. Firstly, two multi-task algorithms are proposed, which can reasonably select some agent nodes with better performance to form the multi-agent system according to different tasks. Secondly, a multi-control protocol designed in this paper integrates continuous control mechanism, impulsive control mechanism and hybrid control mechanism, which has strong applicability and efficiency. Thirdly, a multi-consensus strategy is designed, and it can be converted into "average consensus strategy", "leader-following consensus strategy" and "hybrid consensus strategy" through different parameter settings, which greatly broadens the application field of the multi-agent system. We construct a dynamic model for the proposed multi-agent system, analyze it by using matrix measure and Lyapunov stability theory, and obtain the theorems that enable it to achieve multiple consensus. Finally, the efficiency and practicability of our theories are verified through several simulation experiments. We further carry out some comparative analysis with some relevant papers, and obtain the superiority of our theories in multiple indicators. [ABSTRACT FROM AUTHOR]

In this paper, the distributed event-triggered control (ETC) problems for nonlinear stochastic multi-agent systems (MASs) with external disturbance and time-delay are discussed. The leader-following input-to-state actual exponential mean-square consensus (EMSC) criteria are established in networks containing a directed spanning tree. By devising appropriate Lyapunov–Krasovskii function, sufficient conditions for the model to achieve leader-following input-to-state actual EMSC are obtained. The control gain matrix is designed to realize the controller. The lower bounds of interexecution times are given to show that the Zeno-behavior will not appear. Besides, the validity of theoretical analyses is verified by simulation. [ABSTRACT FROM AUTHOR]

In this paper, the leader-following and leaderless consensus problem of high-order multi-agent systems on directed graphs are discussed. The delayed sampled outputs are only available data, observer-based output feedback controllers are presented. By constructing appropriate Lyapunov-Krasovskii function and auxiliary integral function to deal with the delayed sampled-data, sufficient conditions are given to ensure the global exponential consensus of the considered systems. We also obtain the upper bounds of the allowable delay and sampling period. Finally, we give the simulation examples to validate the effectiveness of the proposed methods. [ABSTRACT FROM AUTHOR]

In this paper, the consensus for second-order heterogeneous multi-agent system is investigated. The heterogeneous system consists of linear and nonlinear second-order agents, where the nonlinear agents are still with different structures. First, the consensus of the system with and without a static leader is discussed, respectively. Then, we consider a general case where the inputs of linear second-order agents are bounded by virtue of the limitation of the actuators. Effective control protocols to achieve consensus are presented for these cases. Based on graph theory and Lyapunov stability theory, sufficient conditions are established for the consensus of heterogeneous system, where the communication topology is undirected and connected. Finally, several numerical examples are presented to verify the validity of the developed method. [ABSTRACT FROM AUTHOR]

In this paper, we study the distributed optimization problem of multi-agent systems with delayed sampled-data, where the interconnected topology is directed, weighted-balanced and strongly connected, and also local cost functions are strongly convex with globally Lipschitz gradients. Based on synchronous and asynchronous sampled-data, we construct two respective algorithms. Our main results, sufficient conditions for the convergence to an optimal solution, are obtained under assumption that all design parameters are chosen properly. We also present one example to validate our theoretical results. [ABSTRACT FROM AUTHOR]

Event-triggered scheme for multi-agent system is motivated by the network systems with limited communication and energy resources. In our paper, the event-triggered consensus problem of multi-agent system with heterogeneous matching uncertainties is considered. An event-based distributed adaptive controller and a novel event-triggered rule without continuous communication among agents are proposed, with which the consensus errors are uniformly bounded and all the agents could converge to an adjustable small bounded set exponentially. Meanwhile, the Zeno behavior is excluded with the designed control strategy. Finally, numerical examples are given to illustrate the effectiveness of the theoretical analysis. [ABSTRACT FROM AUTHOR]

This paper is concerned with the consensus problem for continuous time linear multi-agent systems with directed communication topology. An estimation error dynamic is proposed to design the reduced-order observer for dealing with unknown coefficient matrices. To guarantee the consensus, control protocols based on the reduced-order observer are designed to utilize the relative outputs of neighboring agents whose communication topology contains a directed spanning tree. Then the algorithms are extended to the model reference consensus case, where the case of zero control input for reference node is not assumed. Numerical examples are given to illustrate the effectiveness of proposed approaches. [ABSTRACT FROM AUTHOR]

In this paper, the recent developments of distributed coordination control problems are summarized in a graph-theory-based framework. Distributed coordination has attracted tremendous attention in control and robot communities because of its potential applications in the past decade. The graph is used to describe the interconnections among agents, and different distributed coordination control problems, such as consensus, formation control, rendezvous, alignment, swarming, flocking, containment control and circumnavigation control, are adopted to this description by considering different cooperative objects. Therefore it is natural to study the distributed coordination control problems via graph theory, and the graph-theory-based results on consensus, formation control, and some closely related issues, i.e., rendezvous/alignment, swarming/flocking, containment control and circumnavigation control, are reviewed, and provide a cohesive overview in the coordination control problems, in system modeling, control law designs and analysis, and structure transformation. Finally, towards the practical applications, some potential directions possibly deserving investigation in distributed coordination control are discussed. [ABSTRACT FROM AUTHOR]

In this paper, consensus problem of general nonlinear multi-agent systems with communication failures is studied based on a distributed consensus algorithm. Under the assumption that the communication graphs are strongly connected, we derive some sufficient consensus criterion for both cases fixed and switched topologies using the relative measured output states of each agent. Moreover, the case that there is a leader in the communication graph is also explicitly investigated. Finally, simulation examples are presented to show the effectiveness of the obtained results. [ABSTRACT FROM AUTHOR]

This paper considers the leader-following tracking problem of second-order nonlinear multi-agent systems with a reference leader. It is assumed that all following agents can only access the relative position information with its neighbors, the position and velocity information of the leader is only accessed by a subset of the following agents, and the leader׳s bounded reference input cannot be available by any following agents. To track the active leader, a distributed discontinuous observer-based consensus protocol is proposed for each following agent, whose observer is used to estimate the agent׳s unmeasured velocity. Under connected undirected interaction topology, the proposed protocol can be used to solve the second-order nonlinear multi-agent consensus problem. While the reference input of the leader is known, the proposed protocol can solve the consensus problem under a class of directed switching interaction topologies. Furthermore, to make the designed approach in fully distributed fashion, the distributed adaptive laws are provided to design the protocol coupling parameters. Finally, a numerical example is presented to illustrate our obtained result. [ABSTRACT FROM AUTHOR]

Abstract: This paper investigates the problem of distributed output feedback consensus for multi-agent systems. Both fixed topology and stochastic switching topology are considered. It is assumed that each agent updates its state according to the output information of itself and its neighbors. We obtain some necessary and sufficient conditions of consensusability based on algebraic graph theory and Markov jump linear system theory. Algorithms are given to derive the allowable control gains. Simulation results are presented to show the effectiveness of the theoretical results. [Copyright &y& Elsevier]