Article
Automation & Control Systems
Jun Huang, Qingyuan Li, Xudong Zhao, Min Zhang, Yueyuan Zhang
Summary: This article discusses the consensus problem of nonlinear multi-agent systems with incremental quadratic constraints and semi-Markov switching topology. In order to simulate the delay of the communication network, the nonlinear function containing the delay term is considered, and the control protocol is designed based on the dynamics of adjacent agent states and desired agent states. By utilizing the characteristics of the Kronecker product, the distributed system is converted to a centralized system. The effectiveness of the control protocol is demonstrated through numerical simulations.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Multidisciplinary
Karlo Griparic, Marsela Polic, Marko Krizmancic, Stjepan Bogdan
Summary: This paper addresses a distributed connectivity control problem and proposes a method based on algebraic connectivity measure. The method estimates the algebraic connectivity locally and controls the network topology through a control strategy. Experimental results demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING
(2022)
Article
Mathematics
Gia-Bao Hong, Sung-Hyun Kim
Summary: This paper investigates the problem of stochastically cooperative output regulation of heterogeneous multi-agent systems subject to hidden Markov jumps using observer-based distributed control. The paper addresses the issues of asynchronous phenomena in the system mode's transmission, the impact of system mode switching on network topology, and the emergence of coupled terms in control design conditions. The proposed method includes a leader-state observer and a linear decoupling method to handle these issues and achieve stochastically cooperative output regulation.
Article
Mathematics, Applied
Xiao-Jie Peng, Yong He, Wen-Hu Chen, Qian Liu
Summary: This paper studies the bipartite tracking control problem for multi-agent systems, proposing novel consensus criteria and a bipartite tracking controller for uncertain switching topologies and time delays. An improved monotone-delay-interval-based Lyapunov functional is constructed, establishing lower conservatism consensus conditions. A new zero equation is introduced to deal with the double integral term, avoiding the need for the quadratic function negative-determination lemma. Simulation examples based on quadrotors and spacecraft formation flying model are presented to demonstrate the superiority of the proposed method.
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
(2023)
Article
Engineering, Electrical & Electronic
Xiaoxiao Wan, Yun Guo, Xiaoqun Wu
Summary: This brief investigates differentially private consensus of discrete-time multi-agent systems over switching networks for the first time, achieving mean-square consensus while preserving agents' initial states privacy. A weaker noise constraint is proposed to broaden the selection of noise, and the effectiveness of the results is verified through a numerical example.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Engineering, Electrical & Electronic
Peijun Wang, Guanghui Wen, Tingwen Huang, Wenwu Yu, Yuezu Lv
Summary: In this study, the consensus tracking problems of Lur'e multi-agent systems are investigated with directed switching topology and an unknown input leader. A distributed unknown input observer is designed to track the relative states exactly. A discontinuous controller is then proposed using this observer to remove the impacts of the leader's unknown inputs. It is shown that the system can achieve asymptotical consensus by using the average dwell time method. A continuous controller is also designed to ensure uniformly ultimately bounded consensus tracking error. The theoretical results are validated through simulations on multiple Chua's circuits.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Automation & Control Systems
Xuan Gu, Wuneng Zhou, You Wu, Wanpeng Wu, Guang Yang
Summary: This study investigates the distributed bipartite containment control problem of a set of general linear multi-agent systems with structural balanced symbolic graph. The containment control analysis of communication topology is given under fixed topology and Markov switching topologies. Different from the traditional multi-agent containment control, a distributed observer and bipartite containment protocol are designed based on relative neighbour information. Algebraic graph theory and Lyapunov stability theory are applied to achieve convergence of the bipartite containment error and estimation error to zero, allowing follower agents to asymptotically converge to the states of leader agents. Finally, simulation examples are used to verify the effectiveness of the theoretical method.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2023)
Article
Computer Science, Information Systems
Wei Cao, Jinjie Qiao, Ming Sun
Summary: A distributed iterative learning control protocol is proposed for state consensus tracking of a singular multi-agent system, utilizing singular value decomposition and switching topology graph to divide and track system states. The proposed algorithm demonstrates convergence and the ability to approach the desired state gradually with an increase in iterations.
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
Engineering, Mechanical
Ruohan Yang, Yue Li, Deyun Zhou, Zhichao Feng
Summary: This paper proposes a design framework for solving the cooperative output tracking problem of unknown heterogeneous discrete-time multi-input multi-output linear multi-agent systems under switching topologies. By utilizing a distributed observer and a distributed multivariable adaptive control approach, the estimation of leader's states and the output tracking of the MASs are achieved, with the guarantee of boundedness and stability of the closed-loop system.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Jingshu Sang, Dazhong Ma, Yu Zhou
Summary: This paper discusses a new issue of hierarchical containment control which enables a multitude of followers to achieve novel cooperation. By constructing a three-layer topology, large-scale networks are decoupled, and a dynamic hierarchical containment control protocol is designed under the condition of directed spanning group-tree. The proposed strategy improves the dynamic control performance compared with existing containment control strategies.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2023)
Article
Engineering, Electrical & Electronic
Chun Liu, Bin Jiang, Ke Zhang, Ron J. Patton
Summary: This paper proposes a novel distributed fault-tolerant consensus tracking control design for multi-agent systems with abrupt and incipient actuator faults under fixed and switching topologies. By utilizing fault estimation hierarchy and mean-square consensus convergence, the proposed control schemes ensure the consensus of the system.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2021)
Article
Mathematics
Yangjie Chen, Fan Zhang, Jianning Li
Summary: This article proposes an approach to achieve anti-disturbance fault-tolerant constrained consensus for time-delay faulty multi-agent systems under semi-Markov switching topology. It includes designing an observer based on disturbance and fault information, constructing a new performance index, and solving numerical solution problem of time-varying transfer rate, ultimately demonstrating the feasibility of the proposed method.
Article
Automation & Control Systems
Cun Wang, Zupeng Zhou, Xisheng Dai, Xufeng Liu
Summary: This paper investigates the consensus tracking problem for linear and nonlinear partial difference multi-agent systems with switching communication topology and control delay. A discrete distributed consensus protocol with initial value learning is designed for each agent using relative local measurements of neighboring followers, considering spatio-temporal discretization and initial state deviation, by employing a D-type iterative learning approach. The necessary and sufficient conditions are obtained through rigorous mathematical analysis, ensuring solvability of the consensus tracking control of the MASs under the switching of the communication topology. After applying the designed protocol, the consensus tracking error between any two agents can converge to zero in terms of the L2 norm and along the positive direction of the iteration axis. Finally, simulation examples are presented to validate the effectiveness of the protocol and theoretical results.
Article
Computer Science, Artificial Intelligence
Peijun Wang, Guanghui Wen, Tingwen Huang, Wenwu Yu, Yuezu Lv
Summary: This paper investigates the asymptotical consensus problem for multi-agent systems (MASs) with unknown nonlinear dynamics under directed switching topology using a neural network (NN) adaptive control approach. It designs an observer for each follower to reconstruct the states of the leader, and proposes a discontinuous consensus controller and an NN adaptive law based on the idea of discontinuous control. The paper proves theoretically that asymptotical neuroadaptive consensus can be achieved in the considered MAS if the average dwell time (ADT) is larger than a positive threshold.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2023)
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.