Article
Automation & Control Systems
Pan Yu, Kang-Zhi Liu, Xudong Liu, Xiaoli Li, Min Wu, Jinhua She
Summary: In this paper, a new distributed consensus tracking protocol is proposed for a multi-agent system with heterogeneous dynamic uncertainties and disturbances over a directed graph. The protocol incorporates local disturbance rejection and has a two-degree-of-freedom nature. It includes a robust distributed controller for consensus tracking and a local disturbance estimator for each agent without requiring disturbance input channel information. The method also provides good disturbance-rejection performance even when the disturbance model is not exactly known. A robust stabilization condition with less conservativeness is derived for the whole multi-agent system, and a design algorithm is provided. Comparisons with conventional methods validate the effectiveness of the developed method.
IEEE-CAA JOURNAL OF AUTOMATICA SINICA
(2023)
Article
Automation & Control Systems
Karthi Ramachandran, Jyh-Ching Juang
Summary: This article develops protocols for achieving consensus in an uncertain nonlinear multi-agent system that satisfies the one-sided Lipschitz and quadratic-inner bounded conditions. Different distributed consensus protocols with observer-based and observer-less schemes are investigated. The design of a full order Luenberger observer is proposed for the observer-based system. Sufficient conditions, described by linear matrix inequalities, are provided to overcome the difficulties in designing the controller and observer-based controller gains. Two simulation examples are presented to demonstrate the effectiveness of the proposed approach.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(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
Wenfeng Hu, Yihang Weng, Huaqing Li
Summary: This article investigates the distributed event-triggered robust H-infinity consensus control for uncertain linear multi-agent systems with external disturbances under directed networks based on accessible output signals. By introducing variable transformations, the consensus problem is converted into stability analysis of sub-systems. A new event-triggered consensus control protocol is proposed, which only requires local observed relative states of neighboring agents. The protocol ensures consensus achievement and desired robust H-infinity performance without Zeno behavior.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Computer Science, Artificial Intelligence
Peijun Wang, Huanhuan Tian, Di Huang, Tingwen Huang
Summary: This paper investigates the consensus problems for uncertain multi-agent systems using a neural network adaptive control approach. Unlike previous works, which use discontinuous functions to eliminate the effects of neural network approximation errors, a novel continuous function is proposed. Both time-invariant and time-varying topologies are considered, and it is shown that asymptotical consensus can be achieved without global information. The theoretical results are verified through two examples.
IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE
(2023)
Article
Mathematics, Applied
Weijian Zhang, Haibo Du, Zhaobi Chu
Summary: This paper investigates the consensus problems of first-order leaderless multiagent systems with external disturbance and proposes a robust consensus protocol and disturbance observer to enhance system robustness and disturbance rejection. Finally, a discrete-time disturbance rejection control consensus protocol is obtained by combining the proposed methods, which is validated by simulation results.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Article
Engineering, Mechanical
Liping Chen, Xiaomin Li, Antonio M. Lopes, Zhaobi Chu, YangQuan Chen
Summary: The leader-follower consensus of a class of variable-order fractional (VOF) uncertain linear multi-agent systems is investigated in this paper. A new general lemma is proposed to find Lyapunov candidate functions for stability analysis. By utilizing the proposed lemma and stability theorem, and employing singular value decomposition and related lemmas, a sufficient condition to achieve leader-follower consensus of uncertain VOF linear systems is derived in the form of a linear matrix inequality. The proposed control protocol is applicable to both fixed-order and nonlinear VOF multi-agent systems. Numerical simulations are conducted to verify the feasibility and effectiveness of the approach.
NONLINEAR DYNAMICS
(2023)
Article
Mathematics, Applied
Yaxin Huang
Summary: This paper investigates asymptotic consensus for multi-agent systems under the influence of stochastic noise in the measurement of neighbor information. The presence of intractable parametric uncertainties in the agent dynamics, combined with inherent nonlinearities, necessitates distributed adaptive compensation. The distributed protocol design focuses on reference consensus based on relative information and agent tracking based on individual estimates to attenuate the effects of measurement noises and ensure consensus in the almost sure sense. The proposed distributed adaptive protocol facilitates state tracking and prevents finite-time explosion caused by inherent nonlinearities, ultimately leading to average consensus.
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
(2023)
Article
Automation & Control Systems
Malika Sader, Zhongxin Liu, Fuyong Wang, Zengqiang Chen
Summary: This article studies the H-infinity consensus tracking problem for multi-agent systems under switching communication topologies and proposes a new fully distributed fault-tolerant control method utilizing adaptive mechanisms, using neural networks to estimate the norm of weight vectors and solving the difficulty of compensating for unknown nonlinear functions during actuator faults.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Yutao Tang, Kui Zhu
Summary: This article focuses on the distributed optimal output consensus problem for high-order multi-agent systems with parametric uncertainties, proposing a distributed output feedback integral controller to solve the problem effectively under mild graph connectivity conditions.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2022)
Article
Automation & Control Systems
Linzhen Yu, Yungang Liu
Summary: This paper focuses on the leaderless consensus problem with a prescribed convergence rate for n-dimensional multi-agent systems with unknown heterogeneous nonlinearities under a directed graph. By using a time-varying high-gain method called funnel control, a distributed consensus protocol is designed without any global graph information. The protocol achieves the desired consensus with the prescribed convergence rate, and a simulation example is provided to demonstrate its effectiveness.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
M. A. Moradi, B. Safarinejadian, M. H. Shafiei
Summary: This paper presents an approach to design H-infinity smooth switching distributed LPV controller for consensus of LPV MASs with a large range of parameter variations. The efficacy of the result is illustrated by applying it to consensus of practical VTOL helicopter MAS.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2022)
Article
Automation & Control Systems
Guanli Xiao, JinRong Wang, Dong Shen
Summary: In this paper, the authors study the adaptive fixed-time consensus control for stochastic multi-agent systems (SMASs) with uncertain actuator faults. They propose fully distributed adaptive consensus protocols and an adaptive fault-tolerant containment consensus protocol to achieve fixed-time consensus and solve the containment consensus in unbalanced communication networks. Simulation examples are provided to demonstrate the effectiveness of the proposed protocols.
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
Automation & Control Systems
Yanzhou Li, Yuanqing Wu, Yanyan Ye, Yongkang Lu
Summary: The paper investigates the consensus tacking problem for multi-agent systems with a leader of none control input and unknown control input. State estimator and disturbance estimator are designed for each follower based on the relative state information of neighboring agents to estimate the system states and exogenous disturbance, respectively. A novel control protocol based on two estimators is proposed to ensure the convergence of tracking error to zero. The results are further extended to the leader with unknown control input using a novel state estimator with adaptive time-varying gain, which eliminates the dependence on the Laplacian matrix of the communication topology. Two examples are presented to verify the feasibility of the proposed control protocol.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2023)
