Article
Automation & Control Systems
Xiaofan Liu, Yongfang Xie, Fanbiao Li, Weihua Gui
Summary: This article investigates the admissible consensus tracking control of singular multiagent systems under nonlinear actuator attacks. A novel distributed adaptive protocol is designed to approximate the actuator attack by updating the weight matrix of neural network. An integral sliding surface is constructed based on the singularity of agents, and the sliding-mode dynamics can reach the sliding-mode surface in finite time under the proposed protocols. Sufficient conditions of impulse free and consensus tracking control of the singular multiagent systems are proved, and the attenuation of external disturbances is verified. The effectiveness of the proposed methods is verified through numerical simulation examples.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Article
Automation & Control Systems
Jing Xu, Yugang Niu, Yuanyuan Zou
Summary: This article investigates the memory output sliding-mode control for the finite-time consensus of singularly perturbed multiagent systems. The design method effectively stabilizes consensus errors within a finite time, even in the presence of estimation biases, singular perturbations, and input noises. The proposed method is simpler than observer-based control methods and does not require additional dynamical structures.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Automation & Control Systems
Deyin Yao, Hongyi Li, Yang Shi
Summary: In this study, the robust adaptive event-triggered sliding-mode control method is employed to address the adaptive tracking control problem of leader-following nonlinear MASs subject to unknown perturbations and limited network bandwidth. The distributed integral sliding mode is established to achieve the finite-time reachability of system states, and an adaptive triggering control mechanism is proposed to dynamically adjust the triggering interval for reducing wear and resource consumption. The effectiveness of the proposed event-based robust adaptive sliding-mode controller design is validated through three simulation examples.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Hajar Atrianfar, Shahram Yadollahi
Summary: This article addresses the consensus problem of nonlinear heterogeneous multiagent systems in the presence of uncertainty and external disturbances. A new event-triggered adaptive sliding mode control mechanism is proposed, integrating adaptive sliding-mode control strategy and design of decoupled heterogeneous sliding surfaces. Through centralized and distributed event-triggered schemes, consensus among agents is achieved with the usage of limited resources.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Engineering, Electrical & Electronic
Jinna Li, Lin Yuan, Tianyou Chai, Frank L. Lewis
Summary: This paper investigates the design of distributed control protocols for uncertain nonlinear multi-agent systems to achieve optimal consensus. It proposes a novel sliding mode control design method based on the principles of sliding mode control and reinforcement learning. The method successfully addresses the challenges of agent coupling, uncertainty, nonlinear dynamics, and communication delay, enabling agents to eliminate negative impacts and follow the leader optimally.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2023)
Article
Automation & Control Systems
Duxin Chen, Tian Lu, Xiaolu Liu, Wenwu Yu
Summary: This study proposes a distributed finite-time consensus control method to address the issue of second-order multiagent systems with input saturation and disturbances. By designing a continuous integral sliding mode method and a disturbance observer, the system state can be stably maintained and disturbances can be compensated.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Automation & Control Systems
An-Min Zou, Yangyang Liu, Zeng-Guang Hou, Zhipei Hu
Summary: This article discusses the output-feedback consensus control problem of multiagent systems under a directed topology and bounded external disturbances. A distributed practical predefined-time observer is proposed to estimate the reference trajectory for the entire team and a practical preset-time extended-state observer is introduced to estimate bounded disturbances and unmeasurable system states. Based on these observers, a novel continuous and nonsingular predefined-time consensus control law is designed, which can achieve consensus tracking with bounded errors within a predetermined time.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Saad Jamshed Abbasi, Hamza Khan, Min Cheol Lee
Summary: In this study, two different control logics, sliding mode control with a sliding perturbation observer (SMCSPO) and integral sliding mode control (ISMC), have been designed for the position control of a robot with five degrees of freedom (DOFs). Both control schemes have been implemented in MATLAB/Simulink, and it has been observed that the ISMC controller has improved the tracking performance of the system.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2021)
Article
Automation & Control Systems
Weile Chen, Haibo Du, Chih-Chiang Chen
Summary: This paper considers the consensus problem for second-order multiagent systems based on nonsmooth sampled-data control. A continuous-time nonsmooth consensus protocol and a discrete-time nonsmooth protocol are proposed. Theoretical analysis and simulation examples demonstrate that the nonsmooth control algorithm has a stronger ability to resist external disturbance compared to the smooth control algorithm.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Engineering, Multidisciplinary
Wencheng Zou, Xiao Wen, Jian Guo, Zhengrong Xiang
Summary: This paper investigates the finite-time consensus for second-order multiagent systems under directed networks. Two novel protocols are developed using the reference trajectory-based method for the leader-follower and leaderless cases, respectively. By these protocols, the relative state errors among agents can converge to the origin within a finite time, even in the presence of unknown parameters and unbounded nonlinear terms in agents' dynamics.
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING
(2023)
Article
Computer Science, Information Systems
Saad Jamshed Abbasi, Won Jae Kim, Jaehyung Kim, Min Cheol Lee, Byeong Ju Lee, Myung Jun Shin
Summary: Automatic, precise, and accurate heart rate control during treadmill exercise is an interesting topic. The human heart is a highly nonlinear system and conventional control techniques are not sufficient. Two robust controllers were designed for this system, including sliding mode control (SMC) and integral sliding mode control (ISMC). The results showed that ISMC had better heart rate tracking compared to SMC but had issues with control output chattering.
Article
Automation & Control Systems
Lixia Liu, Jinchen Ji, Bin Li, Zhonghua Miao, Jin Zhou
Summary: This paper proposes a distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots and applies it to consensus-based formation. The algorithm incorporates time-varying delays and noisy measurement into the dynamic model and introduces consensus gains to characterize their effects. The convergence analysis of the networked system is conducted using the generalized stochastic delayed Halanay inequality. The results demonstrate the crucial roles of time delays and noisy measurement in distributed consensus seeking in collaborative multirobot systems.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2022)
Article
Automation & Control Systems
Yuan Sun, Peng Shi, Cheng-Chew Lim
Summary: This paper investigates the scaled consensus problem for discrete-time multi-agent systems using the event-triggered sliding mode control approach. The problem considers unknown external bounded disturbance and time-varying state delay. A new event-triggered integral sliding surface function is introduced to handle the external disturbances. A distributed event-triggered control method is integrated with sliding mode control to address the energy-constrained issue. A sufficient condition is established to ensure a predefined H-infinity performance for the system. An event-triggered sliding mode control protocol is developed to guarantee the state trajectories of all agents approach the dictated scales in the discrete-time multi-agent systems.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Computer Science, Artificial Intelligence
Heng Zhao, Huanqing Wang, Ning Xu, Xudong Zhao, Sanaa Sharaf
Summary: This paper investigates the fuzzy approximation-based optimal consensus control problem for nonlinear multi-agent systems with unknown perturbations. The problem is reformulated as finding Nash-equilibrium solutions to zero-sum games by constructing local error dynamics. Control signals are sequentially designed using sliding mode control technology and the concept of hierarchical design to regulate the consensus error and minimize the local value function. An identifier critic architecture is developed to relax the requirement for complete system dynamics information, and the hierarchical sliding mode surface based critic network is applied to approximate optimal control inputs. A simulation example is presented to illustrate the validity of the proposed approach.
Article
Engineering, Electrical & Electronic
Jianshan Zhou, Daxin Tian, Zhengguo Sheng, Xuting Duan, Guixian Qu, Dongpu Cao, Xuemin Shen
Summary: A novel decentralized robust control approach is proposed in this paper to address the external disturbances in vehicle platooning. By combining a super-twisting second-order sliding mode strategy and a disturbance observer, a super-twisting SOSMDO platoon controller is designed, and the theoretical analysis proves its convergence and stability.
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
(2022)
Article
Automation & Control Systems
Stefan Koch, Alessandro Pilloni, Alessandro Pisano, Elio Usai
Summary: This article addresses the feedback control design problem of in-line liquid flow heating units used in silicon wafer processing in the semiconductor industry. A physics-based model is developed to describe thermal behavior and a boundary control law is proposed for maintaining stability and rejecting disturbances. The study shows that the proposed boundary control system performs well in rejecting disturbances and maintaining stability.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2022)
Article
Robotics
Matteo Santilli, Mauro Franceschelli, Andrea Gasparri
Summary: The article investigates the dynamic resilient containment control problem for continuous-time multirobot systems, developing a local interaction protocol to successfully drive followers towards a target region. Under specific conditions, the influence of adversarial robots does not allow the followers to escape the containment area.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Automation & Control Systems
Matteo Santilli, Mauro Franceschelli, Andrea Gasparri
Summary: A novel distributed local interaction protocol is proposed in this paper for networks of multi-agent systems in a multi-dimensional space under directed time-varying graph, aiming to achieve secure rendezvous or static containment of a set of leader agents. The paper considers the scenario where anonymous adversarial agents may intrude the network or be hijacked by a cyber-attack and shows that the proposed strategy guarantees the achievement of the global objective despite the influence of undetectable adversaries. The convergence properties of the protocol are characterized in terms of the characteristics of the underlying network topology, and the theoretical results are verified through numerical simulations and examples.
Article
Automation & Control Systems
Diego Deplano, Mauro Franceschelli, Alessandro Giua
Summary: In this article, two distributed control protocols are proposed to solve the dynamic consensus problem on the max value in discrete-time multiagent systems. The first protocol achieves bounded steady-state and tracking errors, while the second protocol achieves zero steady-state error. Modified versions of both protocols are provided to solve the dual dynamic min-consensus problem. These protocols are then applied to solve a distributed size estimation problem in a dynamic setting with anonymous agents.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Article
Automation & Control Systems
M. Kaheni, A. Pilloni, G. Serra Ruda, E. Usai, M. Franceschelli
Summary: This letter presents two multi-agent greedy demand-side response control schemes for networks of Thermostatically Controlled Loads. These schemes are simple yet effective, robust to model degradation and external disturbances, and can be implemented without optimization software or network-wide synchronization.
IEEE CONTROL SYSTEMS LETTERS
(2022)
Article
Automation & Control Systems
Eduardo Sebastian, Eduardo Montijano, Carlos Sagues, Mauro Franceschelli, Andrea Gasparri
Summary: This letter presents a novel solution for the discrete time dynamic average consensus problem. The algorithm tracks the average of time-varying input signals over the nodes of an undirected graph using a sequence of consensus stages and a second order diffusive protocol. The protocol is fast, accurate, and robust against input noises and initializations.
IEEE CONTROL SYSTEMS LETTERS
(2023)
Proceedings Paper
Automation & Control Systems
D. Deplano, M. Franceschelli, A. Giua
Summary: This work presents a novel control protocol for multi-agent systems to address the dynamic max-consensus problem. The protocol's main strength lies in its ability to self-tune internal parameters to achieve a small steady-state error without significantly impacting the convergence time.
Article
Automation & Control Systems
Zoreh Al Zahra Sanai Dashti, Gabriele Oliva, Carla Seatzu, Andrea Gasparri, Mauro Franceschelli
Summary: This article proposes a new OMAS mode computation framework for complex decision-making tasks. In this framework, agents select a value from a finite set of alternatives and compute the mode through a novel distributed consensus procedure. The effectiveness of the proposed approach is demonstrated through simulation results.
IEEE CONTROL SYSTEMS LETTERS
(2022)
Article
Automation & Control Systems
Mojtaba Kaheni, Elio Usai, Mauro Franceschelli
Summary: This paper addresses the resilient decentralized constrained optimization problem in multi-agent systems, where some agents become adversaries due to cyberattacks. The proposed method is shown to be resilient against up to F anonymous adversaries and provides a better approximation of the optimal solution compared to the current literature.
IEEE CONTROL SYSTEMS LETTERS
(2022)
Article
Automation & Control Systems
Alessandro Pilloni, Diego Deplano, Alessandro Giua, Elio Usai
Summary: This paper addresses the average state estimation problem in a large-scale system with limited gateway nodes for measurements by designing a reduced-order sliding mode observer subject to unmatched perturbations. Necessary and sufficient conditions for exact estimation are derived, and even when these conditions are not met, boundedness of the estimation error is proven. Additional criteria for minimizing this bound and a gain adaptation law for balancing the bound and convergence rate are provided, with neither observer complexity nor estimation error explicitly depending on the system size, making the approach scalable and computationally feasible.
IEEE CONTROL SYSTEMS LETTERS
(2022)
