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This paper investigates the distributed resilient consensus control problem for a class non-linear heterogeneous multiagent systems under unreliable communication environment, which includes time-varying interaction network and intermittent denial of service (DoS) attacks. In order to handle heterogeneous nonlinear unknown dynamics in each agent subsystem, a novel distributed adaptive neural networks (NNs) control approach is developed exploiting the neighborhood information. By introducing the topology-dependent Lyapunov function and adaptive switching control mechanism, we show that the uniformly bound convergence of the consensus errors can be guaranteed by the proposed topology average dwell time constraints. A simulation example is provided to validate the effectiveness of the proposed resilient control algorithm.

This article focuses on the consensus problem of linear multi-agent systems under denial-of-service attacks and directed switching topologies. With only intermittent communication, the leader-following consensus can be preserved by fully distributed event-triggered strategies. Theoretical analysis shows that the proposed event-triggered resilient controller guarantees the exponential convergence in the presence of denial-of-service attacks and the exclusion of Zeno behavior. Compared to the existing studies where continuous communication between neighboring agents is required, the event-triggered data reduction scheme is provided to tackle the effects of denial-of-service attacks on directed switching topology as well as to avoid continuous communication and reduce energy consumption. The obtained results can be extended to the scenario without a leader. Numerical simulations are finally given to illustrate the effectiveness of the proposed method.

Under the denial-of-service (DoS) attacks, we will design a adaptive secure tracking control for a kind of second-order uncertain multi-agent systems finally realizes the leader-following consensus problem. Combining the algebraic graph theory and the commonly used Lyapunov function method, an adaptive secure algorithm is proposed. Compared with the results of the existing second-order multi-agent consensus problem, we can ensure that the second-order unmodeled nonlinear multiagent system can achieve leadership tracking consensus in the case of DoS attacks. Finally, taking the automatic road system model as an example, the validity of the protocol is verified.

Concerning about general linear multi-agent systems with denial of service (DoS) attacks, this paper investigates the stability analysis and design procedure of fully distributed event-triggered control. For directed topologies, we propose an event-triggered controller and determine the scheduling of controller updating times subject to DoS attacks. Theoretical analysis shows that the proposed event-triggered controller guarantee the leader-following consensus and the exclusion of Zeno behavior. Finally, one case study is conducted to illustrate the effectiveness of the proposed method.

This paper addresses the multiple fault estimation problem for the switched linear systems with actuator and sensor faults. By introducing an intermediate variable and augmenting state and sensor faults into a new vector, an fault estimation approach is proposed to contemporaneously estimate the state, the actuator and sensor faults. It is shown that under switching signals with average dwell time closed-loop signals remain uniformly ultimately bounded. Finally, a case study is given to illustrate the effectiveness of the proposed scheme.

This paper investigates the average tracking problem for a class of nonlinear multi-agent systems with switching topologies. The control design is developed for switching topologies without requiring the accurate mode with nonlinear dynamics. An adaptive neural-network-based control algorithm is proposed for a team of agents to track the average of multiple time-varying reference signals, of which the dynamics of each subsystem is assumed to be unknown and will be estimated by using adaptive neural network mechanism. Finally, a numerical simulation is given to illustrate the effectiveness of presented consensus protocol.

This paper investigates containment control problem for a class of nonlinear multi-agent systems with multiple dynamic leaders, where the condition of zero control input for leader is not assumed. The dynamics of the each subsystem are assumed to be unknown and are estimated using neural networks. A local observer is used to estimate the states and an observer-based neural network controller is designed to guarantee that followers converge to the convex hull spanned by the leaders. Numerical simulations are finally given to show the effectiveness of the obtained results.

This paper studies the problem of adaptive consensus control for a class of nonlinear multi-agent systems (MASs) under switching topologies. The dynamics of the each subsystem are assumed to be unknown, which will be estimated using adaptive neural networks mechanism. Additionally, suppose the underlying communication network is a time-varying undirected graph. An adaptive cooperative control algorithm is developed to guarantee that all agents in networked system arrive at the uniformly ultimate bounded (UUB) consensus state. Finally, a numerical simulation is given to illustrate the effectiveness of presented consensus protocol.

In this paper we consider the problem of robust H ∞ output consensus control for a class of uncertain multi-agent systems with disturbances. It is assumed that the communication network can arbitrarily switch among finite undirected topologies. Based on the relative output information from the neighbors, the distributed-observer-based H ∞ consensus protocol is proposed. Then, by using the common Lyapunov functions method and algebraic graph theory, the design condition of H ∞ consensus algorithm is given in terms of LMIs. Compared with the existing results on H ∞ consensus problem subject to switching networks, no constraint on topology (average) dwell time in this work. It is proved that the proposed output consensus scheme can guarantee that the H ∞ consensus problem is solvable in the presence parameter uncertainties and external disturbance. Finally, an example simulation is given to illustrate the effective of the proposed protocol.

This study investigates the finite-time attitude synchronisation problem for multiple spacecraft under a directed communication topology. Attitude synchronisation problem for a leaderless formation system without specified reference attitude is studied, and finite-time control laws are proposed and analysed without using neighbours' angular velocity measurements. By applying the graph theory, homogeneous method and Lyapunov stability theory, it is proved that the system is globally finite-time stable and attitude synchronisation can be achieved. Then the obtained control results are extended in the scenario with a stationary leader. Numerical simulations are finally given to demonstrate the effectiveness and feasibility of the obtained results.

Summary The consensus problem for multi-agent systems with input saturation is addressed in this paper. For agents with double-integrator dynamics, we first propose two consensus algorithms, respectively, for the cases with and without velocity measurements. Based on graph theory, homogeneous method and the Lyapunov stability theory, it is proved that the proposed algorithms can guarantee not only the state agreement in finite time for all the agents but also the input saturation requirement. Then, the obtained results and techniques are extended to the finite-time consensus problem for multiple mechanical systems. Numerical simulations are finally provided to verify the effectiveness of the theoretical results. Copyright © 2015 John Wiley & Sons, Ltd.

In this paper, we focus on the problem of exponential stability analysis of linear discrete-time systems with two constant delays. The proper Lyapunov-Krasovskii functionals (LKFs) are constructed. By employing WDOPs-based summation inequalities, an exponential stability criterion is obtained, which is given in terms of linear matrix inequalities (LMIs), and exponential estimates of all solutions of linear discrete-time systems with two constant delays are also obtained. An example illustrates that the presented WDOPs-based summation inequality method can get the exponential stability criterion with larger decay rate than the existence.

This paper focus on the admissible consensus problem for a class of singular discrete-time multi-agent systems. Based on graph, algebra and singular system theory, the consensus protocol of static output feedback form is proposed and designed. Sufficient and necessary conditions are obtained to solve the consensus problem for singular discrete-time multi-agent systems. The conditions depend on the topologies of singular multi-agent systems and the structure properties of each agent dynamic. Moreover, the specific design steps of the proposed protocols are also given by an algorithm. A numerical example is provided to verify effectiveness of obtained theoretical results.

Coordination control problem of networked Euler-Lagrange systems with external disturbance is addressed. The sliding mode surface and coordination control law of networked Euler-Lagrange systems with a dynamic leader under a directed graph is first proposed. It is shown that the followers can track the dynamic leader in finite time. Then leaderless consensus law for networked Euler-Lagrange systems is proposed. Based on algebraic graph theory and Lyapunov stability theory, finite-time stability of the closed-loop system is proven. The simulation results show the feasibility and effectiveness of the proposed control law.

This paper investigates the consensus problem for a class of heterogeneous singular multi-agent systems. Based on graph, algebra and singular system theory, sufficient and necessary conditions are obtained. The conditions depend on the topologies of heterogeneous singular multi-agent systems and the structure properties of each agent dynamics. Moreover, the distributed consensus protocol is designed. The detailed design steps of the proposed protocol are also given by an algorithm. A numerical example demonstrates effectiveness and feasibility of the obtained theoretical results.

In this paper, attitude coordination control problem for multiple rigid bodies under a directed communication topology is studied. A distributed control algorithm of multiple rigid bodies in the presence of time-varying communication delays is designed, and with Lyapunov theory and algebraic graph theory, rigorous proof of global asymptotical stability of closed-loop system is given. Then, considering external disturbance, the uncertainty of inertia moment and time-varying communication delays exist simultaneously, an adaptive sliding mode control algorithm for multiple rigid bodies is designed to guarantee the attitude synchronization. Finally, numerical simulations are provided to illustrate the feasibility and effectiveness of the designed distributed control algorithms.

In this paper, we study the finite-time consensus problem for multi-agent systems with double-integrator dynamics. Considering the case that the velocity is not available for feedback and the control inputs are required to be a priori bounded, the velocity-free consensus algorithm is proposed, in which, the graph theory, homogeneous method and Lyapunov stability theory are applied. The proposed velocity-free algorithm guarantees that the states of all agents can reach consensus in finite time and satisfies input saturation requirement. Numerical simulation is provided to validate the effectiveness of the proposed method.