Article
Mathematics, Interdisciplinary Applications
Stephen Arockia Samy, Pratap Anbalagan
Summary: In this manuscript, a memory-based integral sliding-mode control (MBISMC) is designed for multi-agent systems (MASs) with mismatched disturbances by using a disturbance observer (DOB). The DOB is used to estimate disturbances and is included in the controller design procedure. An integral-type surface function (ISF) is used to model the properties of the MASs and DOB, which contains a state-dependent input matrix and memory information. The stability properties of MASs with external disturbances, parameter uncertainties, and MBISMC have not been studied, and this research aims to fill this gap. Furthermore, sufficient stability conditions are derived using H-8 theory and Lyapunov-Krasovskii functional (LKF) to ensure global asymptotic consensus, and the MBISMC method effectively attenuates the mismatched disturbances of the MASs. Three numerical examples are provided to demonstrate the practicality and usefulness of the proposed design techniques.
CHAOS SOLITONS & FRACTALS
(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
Mohammad Javad Mirzaei, Sehraneh Ghaemi, Mohammad Ali Badamchizadeh, Mahdi Baradarannia
Summary: In this paper, a robust distributed consensus control method based on adaptive time-varying gains is proposed for nonlinear multi-agent systems (MAS) with uncertain parameters and external disturbances. The discontinuous and continuous adaptive integral sliding mode control strategies are designed to achieve precise consensus for non-identical MASs influenced by perturbations. An adaptive scheme is used to overcome the unknown upper bound of perturbations. The designed distributed super-twisting sliding mode strategy adjusts the gain of the control inputs and guarantees the proper performance of the protocol without chattering phenomenon. Simulation results demonstrate the robustness, accuracy, and effectiveness of the proposed methods.
Article
Automation & Control Systems
Yiping Luo, Xitong Gao, Jinde Cao, Ardak Kashkynbayev
Summary: The study evaluates the finite-time consensus problem for leader-following systems under external disturbances and internal nonlinear dynamics. It proposes a new model and control strategy, proving that the systems can achieve consensus in finite time while avoiding Zeno behavior of event-triggered controllers.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Yan Ren, Huimin Wang, Dong Xie, Meixia Yue, Kai Weng, Wei Gao, Ning Liu
Summary: The study proposes a finite-time adaptive tracking control algorithm based on non-singular terminal sliding mode to address the consensus problem of second-order multi-agent systems with disturbance. By introducing a disturbance observer and designing an adaptive controller, the system's robustness is enhanced, response speed and tracking accuracy are improved, and the finite-time convergence of the method is proven using Lyapunov theory.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Automation & Control Systems
Fenglan Sun, Feng Wang, Peiyong Liu, Jurgen Kurths
Summary: This article proposes a consensus protocol based on integral sliding mode surface to achieve fixed-time tracking consensus for second-order nonlinear multi-agent systems with disturbance. By utilizing Lyapunov stability theory and matrix theory, sufficient conditions for fixed-time tracking consensus are provided, along with an upper bound for the settling time. A simulation example is presented to demonstrate the potential correctness of the obtained results.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Yingwen Zhang, Jinhuan Wang, Guanrong Chen
Summary: This article proposes an event-based control strategy for finite-time consensus of a chain of nonholonomic multi-agent systems. It introduces adaptive event-based integral sliding-mode control protocols and adaptive laws to handle unknown disturbances. A numerical example demonstrates the effectiveness of the proposed methodology.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Mathematics, Applied
Yanyan Fan, Zhenlin Jin, Xiaoyuan Luo, Baosu Guo
Summary: This paper studies the problem of robust finite-time consensus for Euler-Lagrange multi-agent systems subject to switching topologies and uncertainties. An integral sliding mode control scheme is proposed to achieve good disturbance rejection and finite-time consensus.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Article
Computer Science, Interdisciplinary Applications
Mehran Derakhshannia, Seyyed Sajjad Moosapour
Summary: This paper investigates the finite-time consensus problem of chaotic MIMO nonlinear heterogeneous multi-agent systems with matched uncertainties and disturbances. A novel dynamic sliding mode control protocol is proposed, which ensures robust performance and chattering attenuation. The paper introduces a new time-varying nonlinear sliding manifold to guarantee exponential finite-time stability. A novel reaching law is established to ensure fixed reaching time independent of initial conditions. The paper also presents a novel terminal disturbance observer for efficient estimation of uncertainties and disturbances. The proposed consensus protocols are applied to a multi-agent system consisting of two well-known chaotic power systems, and the results are validated through computer simulations and comparative studies.
MATHEMATICS AND COMPUTERS IN SIMULATION
(2022)
Article
Automation & Control Systems
Hossein Zamani, Khosro Khandani, Vahid Johari Majd
Summary: This paper investigates fixed-time consensus and formation control for fractional-order multi-agent systems with a dynamic virtual leader in the presence of external disturbances. Consensus is achieved in fixed-time using a new distributed sliding-mode control with neighborhood-based error variable. The fractional Lyapunov stability theorem is employed to prove stability and estimate convergence bounds. The effectiveness of the design method is demonstrated through numerical simulations.
Article
Computer Science, Artificial Intelligence
Yulian Jiang, Yuhang Zhang, Hongquan Wang, Keping Liu
Summary: This study investigates the distributed consensus control problem for nonlinear multi-agent systems under switching directed topologies with external disturbances. By designing distributed sliding-mode observers and analyzing a control protocol, the study ensures consensus and disturbance rejection criteria are met. The simulation experiments with simple-pendulum network systems demonstrate the effectiveness of the designed observers in estimating states information while considering both nonlinear dynamics and external disturbances.
COMPLEX & INTELLIGENT SYSTEMS
(2022)
Article
Automation & Control Systems
Yuanyuan Zhi, Zhanshan Zhao, Mingce Qi
Summary: We propose an event-triggered finite-time consensus (FTC) control scheme for second-order leader-follower nonlinear multi-agent systems (MASs) with unknowable velocities and external disturbances. A terminal sliding mode observer (TSMO) is introduced to force velocity errors to converge to zero in a finite time. A distributed event-triggered control law is then constructed using the backstepping method, allowing each follower to update the control law independently based on its state error threshold. The control scheme achieves FTC stability and ensures the global robustness of the system via Lyapunov stability analysis, while reducing the frequency of control law updates. Furthermore, a positive lower bound for the inter event time sequence rejects the occurrence of the Zeno phenomenon. Numerical simulations verify the validity of the consensus control protocol.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2023)
Article
Automation & Control Systems
Lizuo Wen, Shuanghe Yu, Ying Zhao, Yan Yan
Summary: This paper investigates the finite-time consensus problem of multi-agent systems with disturbances and combines the dynamic event-triggered mechanism with the sliding mode control algorithm to propose a novel finite-time consensus control law. The proposed control protocol achieves finite-time consensus of the multi-agent systems despite system disturbances.
INTERNATIONAL JOURNAL OF CONTROL
(2023)
Article
Automation & Control Systems
Yi Cheng, Wenfeng Hu, Yuqian Guo, Yongfang Xie
Summary: This paper investigates the leader-following consensus problem of linear multi-agent systems over directed communication graphs, proposing a novel distributed reset proportional-integral consensus controller. Through a hybrid system analysis approach and a novel Lyapunov function, the conditions for achieving consensus are obtained, further demonstrating the controller's ability to improve transient performance.
Article
Engineering, Multidisciplinary
Peng Zhang, Quanbao Wang, Yueying Wang, Jiwei Tang, Dengping Duan
Summary: This technical note investigates the agent-based finite-time leader-following consensus for Earth-observation systems with multiple stratosphere airships. The study considers the high-order nonlinear dynamic and external disturbances in multi-agent systems. By using a distributed observer to acquire the state of the leader airship, a dynamic cascade control is designed to achieve finite-time leader-following consensus for Earth-observation systems. Mathematical proofs demonstrate the finite convergence of the stratosphere airship earth-observation system, and simulation results confirm the effectiveness of the proposed scheme.
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Xiaoyu Luo, Chengcheng Zhao, Chongrong Fang, Jianping He
Summary: This paper investigates the problem of false data injection attacks in multi-agent dynamical systems and proposes FDI attack set selection algorithms to maximize the convergence error by finding the optimal subset of compromised agents.
Article
Automation & Control Systems
Nitin K. Singh, Abhisek K. Behera
Summary: In this paper, a twisting observer is proposed for robustly estimating the states of a second-order uncertain system. The observer approximates the unknown sign term for the non-measurable state with a delayed output-based switching function, and achieves the desired steady-state accuracy by controlling the delay parameter. The application of the observer to output feedback stabilization is also discussed.
Article
Automation & Control Systems
Alexander Aleksandrov
Summary: This paper investigates the absolute stability problem for positive Persidskii systems with delay, proposes a special construction method for diagonal Lyapunov-Krasovskii functionals, and derives a criterion for the existence of such functionals guaranteeing the absolute stability, as well as obtaining sufficient conditions for a family of time-delay Persidskii systems to construct a common diagonal Lyapunov-Krasovskii functional. The efficiency of the developed approaches is demonstrated through four examples.
Article
Automation & Control Systems
Noureddine Toumi, Roland Malhame, Jerome Le Ny
Summary: This paper addresses large multi-agent dynamic discrete choice problems using a linear quadratic mean field games framework. The model incorporates the features where agents have to reach a predefined set of possible destinations within a fixed time frame and running costs can become negative to simulate crowd avoidance. An upper bound on the time horizon is derived to prevent agents from escaping to infinity in finite time. The existence of a Nash equilibrium for infinite population and its epsilon-Nash property for a large but finite population are established. Simulations are conducted to explore the model behavior in various scenarios.
Article
Automation & Control Systems
Philippe Schuchert, Vaibhav Gupta, Alireza Karimi
Summary: This paper presents the design of fixed-structure controllers for the As2 and Asw synthesis problem using frequency response data. The minimization of the norm of the transfer function between the exogenous inputs and performance outputs is approximated through a convex optimization problem involving Linear Matrix Inequalities (LMIs). A general controller parametrization is used for continuous and discrete-time controllers with matrix transfer function or state-space representation. Numerical results show that the proposed data-driven method achieves performance equivalent to model-based approaches when a parametric model is available.
Correction
Automation & Control Systems
Zhijun Guo, Gang Chen
Article
Automation & Control Systems
Matteo Della Rossa, Thiago Alves Lima, Marc Jungers, Raphael M. Jungers
Summary: This paper presents new stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. The study focuses on two specific settings: the robust case with completely unknown and unobservable active mode, and the mode-dependent case with controller depending on the current active switching mode. The technical developments are based on graph-theory tools and path-complete Lyapunov functions framework, enabling the design of robust and mode-dependent piecewise linear state-feedback controllers using directed and labeled graphs.
Article
Automation & Control Systems
Elena Petri, Romain Postoyan, Daniele Astolfi, Dragan Nesic, W. P. M. H. (Maurice) Heemels
Summary: This study investigates a scenario where a perturbed nonlinear system transmits its output measurements to a remote observer via a packet-based communication network. By designing both the observer and the local transmission policies, accurate state estimates can be obtained while only sporadically using the communication network.
Article
Automation & Control Systems
Jonas Krook, Robi Malik, Sahar Mohajerani, Martin Fabian
Summary: This paper proposes a method to synthesise controllers for cyber-physical systems subjected to disturbances, such that the controlled system satisfies specifications given as linear temporal logic formulas. The approach constructs a finite-state abstraction of the original system and synthesises a controller for the abstraction. It introduces the robust stutter bisimulation relation to account for disturbances and uncertainty, ensuring that related states have similar effects under the same controller. The paper demonstrates that the existence of a controller for the abstracted system implies the existence of a controller for the original system enforcing the linear temporal logic formula.
Article
Automation & Control Systems
Clement Chahbazian, Karim Dahia, Nicolas Merlinge, Benedicte Winter-Bonnet, Aurelien Blanc, Christian Musso
Summary: The paper derives a recursive formula of the Fisher information matrix on Lie groups and applies it to nonlinear Gaussian systems on Lie groups for testing. The proposed recursive CRLB is consistent with state-of-the-art filters and exhibits representative behavior in estimation errors. This paper provides a simple method to recursively compute the minimal variance of an estimator on matrix Lie groups, which is fundamental for implementing robust algorithms.
Article
Automation & Control Systems
Yiheng Fu, Pouria Ramazi
Summary: This study investigates the characteristics of decision fluctuations in heterogeneous populations and explores the uncertainties in imitation behavior. The findings are important for understanding the bounded rationality nature of imitation behaviors.
Article
Automation & Control Systems
Lars A. L. Janssen, Bart Besselink, Rob H. B. Fey, Nathan van de Wouw
Summary: This paper introduces a mathematical relationship between the accuracy of reduced-order linear-time invariant subsystem models and the stability and accuracy of the resulting reduced-order interconnected linear time-invariant model. This result can be used to directly translate the accuracy characteristics of the reduced-order subsystem models to the accuracy properties of the interconnected reduced-order model, or to translate accuracy requirements on the interconnected system model to accuracy requirements on subsystem models.
Article
Automation & Control Systems
Piyush Gupta, Vaibhav Srivastava
Summary: We study the optimal fidelity selection for a human operator servicing tasks in a queue, considering the trade-off between high-quality service and penalty due to increased queue length. By modeling the operator's cognitive dynamics and task fidelity, we determine the optimal policy and value function numerically, and analyze the structural properties of the optimal fidelity policy.
Article
Automation & Control Systems
Lukas Schwenkel, Alexander Hadorn, Matthias A. Mueller, Frank Allgoewer
Summary: In this work, the authors study economic model predictive control (MPC) in periodic operating conditions. They propose a method to achieve optimality by multiplying the stage cost by a linear discount factor, which is easy to implement and robust against online changes. Under certain assumptions, they prove that the resulting linearly discounted economic MPC achieves optimal asymptotic average performance and guarantees practical asymptotic stability of the optimal periodic orbit.
Article
Automation & Control Systems
Taher Ebrahim, Sankaranarayanan Subramanian, Sebastian Engell
Summary: We propose a robust nonlinear model predictive control algorithm for dynamic systems with mixed degrees of freedom. This algorithm optimizes both continuous and discrete manipulated variables, enhancing closed-loop performance. Our approach relies on a computationally efficient relaxation and integrality restoration strategy and provides sufficient conditions to establish recursive feasibility and guarantee robust closed-loop stability. The effectiveness of the approach is demonstrated through two nonlinear simulation examples.