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In this paper, we consider the optimal topology for leader-following consensus problem of continuous-time and discrete-time multi-agent systems based on linear quadratic regulator theory. For the first-order multi-agent systems, we propose a quadratic cost function, which is independent of the interaction graph, and find that the optimal topology is a star topology. For the second-order multi-agent systems, a quadratic cost function is also constructed, whereas the optimal topology for second-order leader-following consensus problem is an unevenly weighted star topology. The universality of these findings means that if each follower is connected with the leader, the information exchange between followers is unnecessary and insufficient. Simulation examples are provided to illustrate the effectiveness of the theoretical results. Copyright © 2014 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]

This paper studies the consensus problem of first-order and second-order multi-agent systems with nonlinear dynamics and quantised interactions. Continuous-time and impulsive control inputs are designed for the multi-agent systems on the logarithmic quantised relative state measurements of agents, respectively. By using nonsmooth analysis tools, we get some sufficient conditions for the consensus of multi-agent systems under the continuous-time inputs. Compared with continuous-time control inputs, impulsive distributed control inputs just use the state variables of the systems at discrete-time instances. Based on impulsive control theory, we prove that the multi-agent systems can reach consensus by choosing proper control gains and impulsive intervals. The simulation results are given to verify the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]

This article considers the finite-time consensus of multiple second-order dynamic agents without velocity measurements. A feasible protocol under which each agent can only obtain the measurements of its position relative to its neighbours is proposed. By applying the graph theory, Lyapunov theory and the homogeneous domination method, some sufficient conditions for finite-time consensus of second-order multi-agent systems are established under the different kinds of communication topologies. Some examples are presented to illustrate the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]

In this paper, we consider the containment control problem for a group of autonomous agents modelled by heterogeneous dynamics. The communication networks among the leaders and the followers are directed graphs. When the leaders are first-order integrator agents, we present a linear protocol for heterogeneous multi-agent systems such that the second-order integrator agents converge to the convex hull spanned by the first-order integrator agents if and only if the directed graph contains a directed spanning forest. If the leaders are second-order integrator agents, we propose a nonlinear protocol and obtain a necessary and sufficient condition that the heterogeneous multi-agent system solves the containment control problem in finite time. Simulation examples are also provided to illustrate the effectiveness of the theoretical results. [ABSTRACT FROM PUBLISHER]

Summary The formation category for multiple quadrotor drones with the distributed formation protocol is addressed. By exploiting an indoor optical motion capture location system, the formation flight experiment for practical multiple quadrotor drones is performed. Firstly, by decoupling the relationship of the outer and inner loop models, the control loop of a quadrotor drone is divided into the outer position and velocity loop and inner attitude loop, and the distributed formation protocol is constructed by outer‐loop states, where the neighboring relationship term and the formation registration term can regulate formation errors and the whole motion trajectory of multiple quadrotor drones, respectively. The self‐feedback mechanism of the quadrotor drone is introduced to regulate the motion trajectory of whole formation. Then, formation achievability criteria for multiple quadrotor drones are proposed, where two control gains are determined in an analytic form, and the whole motion trajectory for multiple quadrotor drones is presented. Finally, a formation achievement algorithm is proposed, where the formation protocol is implemented by the inner‐loop attitude control of each quadrotor drone, and a formation flight experiment is performed to show the effectiveness of theoretical results. [ABSTRACT FROM AUTHOR]

The minimum-energy formation strategy for interconnected networks with distributed formation protocols is persented, where the impacts of the total energy restriction and the interaction silence are analyzed, respectively. The critical feature of this article is that the distributed formation and the minimum-energy restriction are realized simultaneously, and the total energy restriction is minimum in the sense of the linear matrix inequality. However, the guaranteed-cost formation strategy and the limited-budget formation strategy cannot guarantee that the energy restriction is minimum. Firstly, sufficient conditions for minimum-energy-restriction formation without the interaction silence are proposed, which can be solved by a specific optimization approach in terms of the linear matrix inequality, and the formation whole motion trajectory is determined, which is closely related to the average of the initial states of all agents and formation control vectors. Then, minimum-energy-restriction formation criteria for interconnected systems with the interaction silence are proposed by introducing two inhibition parameters and the interaction silence rate. Finally, two simulation examples are performed to illustrate the effectiveness of theoretical analyses. [ABSTRACT FROM AUTHOR]

This paper studies the min–max group consensus of discrete-time multi-agent systems under a directed random graph, where the presence of each directed edge is randomly determined by a probability and independent of the presence of other edges. Firstly, we propose a min–max consensus protocol without memory, and give the necessary and sufficient conditions to ensure that the multi-agent system can achieve the min–max group consensus in the sense of almost sure and mean square, respectively. Secondly, we design a novel consensus protocol with memory and a behavior mechanism. Using the stochastic analysis theory and the extremal algebra, some necessary and sufficient conditions are obtained for achieving the min–max group consensus in the sense of almost sure and mean square, respectively. It is shown that the protocol with memory can solve the loss problem of the maximum and minimum initial states. Finally, the effectiveness of the two group consensus protocols and the behavior mechanism is verified by four numerical simulations. [ABSTRACT FROM AUTHOR]

This paper focuses on the study of the min–max consensus problem for multi-agent systems in random networks. A min–max consensus algorithm is proposed, which incorporates the weighted average of the agent's state, the maximum value of its neighbors' states, and the minimum value of its neighbors' states. The interaction network is composed of a directed random network where edges exist with probability and are independent of each other. Then, the convergence of the min–max consensus algorithm is investigated utilizing max-plus algebra, min-plus algebra, and stochastic analysis theory. Sufficient and necessary conditions are given to ensure that the multi-agent systems achieve min–max consensus almost surely and in mean-square, respectively. Finally, some numerical simulations are conducted to confirm the effectiveness of the proposed consensus algorithm. [ABSTRACT FROM AUTHOR]

The optimal leaderless and leader-following time-varying formation (TVF) control problems for second-order multiagent systems (MASs) are investigated, where two optimal TVF control protocols are proposed to achieve the desired formations as well as minimize the comprehensive optimization function that contain the cooperative performance index and the control energy index. For leaderless case, the optimal formation control problem is reformulated as an infinite-time state regulator problem by employing the state space decomposition method, which is subject to specified constraints on energy and performance indices, and the analytic criterion for optimal TVF achievability is subsequently proposed. Then, the results of optimal leaderless TVF control are extended to the leader-following case with switching topologies, where the main challenge is changed to find the optimal controller rather than the optimal gain matrix, and the optimal value of the comprehensive index is accurately determined. Finally, two simulation cases are proposed to validate the effectiveness of the theoretical results, and comparisons with previous works are presented to expound the optimality of the proposed formation control method., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 ISA. Published by Elsevier Ltd. All rights reserved.)

In recent years, distributed optimization problem have a wide range of applications in various fields. This paper considers the prescribed-time distributed optimization problem with/without constraints. Firstly, we assume the state of each agent is constrained, and the prescribed-time distributed optimization algorithm with constraints is designed on the basis of gradient projection algorithm and consensus algorithm. Secondly, the constrained distributed optimization problem is transformed into the unconstrained distributed optimization problem, and according to the gradient descent algorithm and consensus algorithm, we also propose the prescribed-time distributed optimization algorithm without constraints. By designing the appropriate objective functions, we prove the multi-agent system can converge to the optimal solution within any prescribed-time, and the convergence time is fully independent of the initial conditions and system parameters. Finally, three simulation examples are provided to verify the validity of the designed algorithms., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 ISA. Published by Elsevier Ltd. All rights reserved.)

This paper proposes a new induced attack strategy against multiagent systems from the perspective of the attacker. It is noted that the induced attack can drive multiagent systems as a whole to follow a specific trajectory prescribed by the attacker, which cannot be achieved by denial-of-service attacks or deception attacks. Firstly, the induced attack signal is produced by establishing an attack generation exosystem, whose dynamics can be regulated to generate the prescribed consensus trajectory. Then, by the local state information and the induced attack signal among partial agents, a new induced attack protocol is proposed, which consists of the nominal consensus term and the induced attack term. By constructing the projection of the induced attack signal onto the consensus subspace, an explicit expression of the prescribed consensus trajectory is determined, which describes the movement trajectory of the entire multiagent system under the induced attack. Meanwhile, the induced attack design criterion is proposed to determine the dynamics matrix of the attack generation exosystem via the robust H ∞ scheme. Finally, the simulation example is performed to illustrate the effectiveness of theoretical results., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 ISA. Published by Elsevier Ltd. All rights reserved.)