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1.
As for the multi-agent systems (MASs) with time-varying switching subject to deception attacks, the leader-following consensus problem is studied in this article. The one-sided Lipschitz (OSL) condition is utilized for the nonlinear functions, which makes the results more general and relaxed than those obtained by Lipschitz condition. The nonidentical double event-triggering mechanisms (ETMs) are adopted for only a fraction of agents, and each agent transmits the data according to its own necessity. Semi-Markov process modeling with time-varying switching probability is adopted for switching topology and deception attacks occurring in transmission channel are considered. By using the cumulative distribution function (CDF) and the linear matrix inequality (LMI) technology, sufficient conditions for MASs to achieve consensus in mean square are obtained. An effective algorithm is presented to obtain the event-based control gains. The merits of the proposed control scheme are demonstrated via a simulation example.  相似文献   

2.
This paper investigates the observer-based consensus control for high-order nonlinear multi-agent systems (MASs) under denial-of-service (DoS) attacks. When the DoS attacks appear, the communication channels are destroyed, and the blocked information may ruin the consensus of MASs. A switched state observer is designed for the followers to observe the leader’s state whether the DoS attacks occur or not. Then, a dynamic event-triggered condition is proposed to reduce the consumption of communication resources. Moreover, an observer-based and dynamic event-triggered controller is formulated to achieve leader-following consensus through the back-stepping method. Additionally, the boundedness of all closed-loop signals is obtained based on the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the presented control strategy under DoS attacks.  相似文献   

3.
In this paper, the problem of fuzzy model-based leader-following consensus control for multi-agent systems (MASs) under deception attacks is investigated. For the sake of alleviating the communication burden, a novel memory-based event-triggered scheme (METS) is first proposed for the considered MASs to reduce redundant data transmission, and the leader-following consensus can be achieved faster with a smaller adjustment error by applying the historical released packets. Considering the designed METS and upper-bounded attacks synthetically, the closed-loop fuzzy system model is well established. Furthermore, with the help of Lyapunov-Krasovskii technique, some sufficient conditions are derived to ensure the consensus of MASs subject to deception attacks. Finally, a simulation example is introduced to manifest the effectiveness of the proposed method.  相似文献   

4.
The leader-following bipartite consensus of multi-agent systems (MASs) with matched uncertainty is investigated by using the fully distributed asynchronous edge-based event-triggered mechanism. Firstly, event-triggered mechanisms are constructed for each edge and the leader to decrease the consumption of system resources. The state feedback and output feedback control protocols are proposed, which do not depend on the global values of the communication graph. Secondly, sufficient conditions for the bipartite consensus of MASs are obtained by Lyapunov stability theory. Thirdly, the feasibility of the proposed event-triggered mechanisms is further verified by exclusion of Zeno phenomenon. Finally, the effectiveness of control protocol is illustrated by simulation.  相似文献   

5.
This paper considers the positive consensus for a class of multi-agent systems (MASs) with average dwell time (ADT) switching. First, sufficient and necessary conditions are derived for preserving the positivity of the closed-loop MASs. Second, the performance analysis of the consensus error system is accomplished by using the multiple Lyapunov functions (MLFs) approach, and an ADT switching technique designs the corresponding controlled switching signal. Then, both leaderless and leader-following positive consensus are achieved. Furthermore, to reduce the computational complexity, a novel leader-following positive consensus criterion is derived in the form of linear programming (LP). Finally, simulation examples are given to illustrate the effectiveness of the proposed method.  相似文献   

6.
This paper considers the problem of the leader-following consensus of generally nonlinear discrete-time multi-agent systems with limited communication channel capacity over directed fixed communication networks. The leader agent and all follower agents are with multi-dimensional nonlinear dynamics. We propose a novel kind of consensus algorithm for each follower agent based on dynamic encoding and decoding algorithms and conduct a rigorous analysis for consensus convergence. It is proved that under the consensus algorithm designed, the leader-following consensus is achievable and the quantizers equipped for the multi-agent systems can never be saturated. Furthermore, we give the explicit forms of the data transmission rate for the connected communication channel. By properly designing the system parameters according to restriction conditions, we can ensure the consensus and communication efficiency with merely one bit information exchanging between each pair of adjacent agents per step. Finally, simulation example is presented to verify the validity of results obtained.  相似文献   

7.
This study considers the main challenges of presenting an iterative observer under a data-driven framework for nonlinear nonaffine multi-agent systems (MASs) that can estimate nonrepetitive uncertainties of initial states and disturbances by using the information from previous iterations. Consequently, an observer-based iterative learning control is proposed for the accurate consensus tracking. First, the dynamic effect of nonrepetitive initial states is transformed as a total disturbance of the linear data model which is developed to describe I/O iteration-dynamic relationship of nonlinear nonaffine MASs. Second, the measurement noises are considered as the main uncertainty of system output. Then, we present an iterative disturbance observer to estimate the total uncertainty caused by the nonrepetitive initial shifts and measurement noises together. Next, we further propose an observer-based switching iterative learning control (OBSILC) using the iterative disturbance observer to compensate the total uncertainty and an iterative parameter estimator to estimate unknown gradient parameters. The proposed OBSILC consists of two learning control algorithms and the only difference between the two is that an iteration-decrement factor is introduced in one of them to further reduce the effect of the total uncertainty. These two algorithms are switched to each other according to a preset error threshold. Theoretical results are demonstrated by the simulation study. The proposed OBSILC can reduce the influence of nonrepetitive initial values and measurement noises in the iterative learning control for MASs by only using I/O data.  相似文献   

8.
This paper investigates globally bounded consensus of leader-following multi-agent systems with unknown nonlinear dynamics and external disturbance via adaptive event-triggered fuzzy control. Different from existing works where filtering and backstepping techniques are applied to design controllers and event-triggered conditions, a matrix inequality is established to obtain the feedback gain matrix and event-triggered functions. To save communication resources, a new distributed event-triggered controller with fully discontinuous communication among following agents is designed. Meanwhile, a strictly positive minimum of inter-event time is provided to exclude Zeno behavior. Furthermore, to achieve globally bounded leader-following consensus, an adaptive fuzzy approximator and a parameter estimator are designed to approximate the unknown nonlinear dynamics and parameters, respectively. Finally, the effectiveness of the proposed method is validated via a simulation example.  相似文献   

9.
Optimal consensus control of high-order multi-agent systems (MASs) modeled by multiple integrator-type dynamics is studied. A fully distributed optimal control protocol that achieves the specific consensus behavior is designed for MASs with linear dynamics, where topology-dependent conditions are removed. Further, a distributed consensus protocol for high-order nonlinear MASs with one-sided Lipschitz continuity is presented using the optimization approach, and the optimal solution can be obtained by solving a standard algebraic Riccati equation. Some numerical examples are finally provided to illustrate the effectiveness of the presented approaches.  相似文献   

10.
This study examines the leader-following consensus problem of a class of second-order nonlinear multi-agent systems, where the velocity information is supposed to be unmeasurable. Under the setting, this paper presents a novel aperiodically intermittent output feedback control protocol such that all followers reach consensus with the leader, in which a distributed state observer is built for each follower to observe the velocity state. Based on the Lyapunov stability theory and some matrix analysis techniques, a couple of sufficient conditions for the leader-following consensus of the nonlinear multi-agent system under study are obtained even though the velocity state is unavailable. Finally, the effectiveness of the theoretical results is verified by numerical simulation.  相似文献   

11.
The problem of event-triggered leader-following consensus control for semi-Markov multi-agent systems is investigated in this paper. A semi-Markov process is used to describe the sudden parameter changes between every agent. An adaptive event-triggered control strategy is proposed to make a balance between reducing unnecessary communication and meeting the required performance. A control protocol which can resist actuator faults is used to ensure the reliable leader-following consensus. By employing the Lyapunov–Krasovskii functional method, some sufficient conditions are provided to guarantee that the leader-following consensus can be achieved in mean-square sense. The consensus controller and the event-triggered parameter can be co-designed. Finally, the effectiveness of the proposed method is verified by a F-404 aircraft engine system.  相似文献   

12.
This article investigates the leader-following successive lag consensus (SLC) for nonlinear multi-agent systems (NMASs) via the observer-based event-triggered control (OBETC), in which two scenarios including constant consensus delay and time-varying consensus delay are considered. Since the system states might not be directly available in actual scenes, the state estimation method is utilized for followers to track their full information. Based on the relative state, a class of distributed event-triggered control protocols is constructed, where the event-triggered strategy is introduced such that each follower can determine the broadcasting time to its neighbors. Obviously, these designed control protocols considerably lessen the expense over communication networks and the frequency of protocol updates. Furthermore, with the aid of the Lyapunov function method, a series of sufficient conditions for guaranteeing the leader-following SLC of NMASs is obtained. Meanwhile, it is proved that no Zeno behavior is exhibited. Finally, several numerical examples are given to illustrate the validity of our theoretical results.  相似文献   

13.
This paper intends to investigate the consensus problem of a nonlinear multi-agent system with new nonlinear terms added to the dynamics of each agent in the leader-following framework with impulsive control. The main contribution of this paper is introducing these new terms expressing the effect of each agent on neighbor agents. The new terms called effect terms (ETs) are considered with time-varying delay. Moreover, the communication interactions among all agents are addressed by a set of consensusable and unconsensusable switching topologies. In particular, the topology-dependent average dwell time (TDADT), one of the significant practical analysis methods for switched systems, has been calculated for each topology. The globally uniformly exponentially stability (GUES) for the consensus error dynamics is analyzed by employing algebraic graph theory and a multiple discontinuous Lyapunov function approach (MDLF) regarding separate Lyapunov functions for impulse instants. Furthermore, sufficient conditions in terms of linear matrix inequalities (LMIs) are derived to ensure that consensus can be achieved. Finally, the effectiveness of the theoretical analysis is corroborated by a numerical example.  相似文献   

14.
This paper is dedicated to the stochastic bipartite consensus issue of discrete-time multi-agent systems subject to additive/multiplicative noise over antagonistic network, where a stochastic approximation time-varying gain is utilized for noise attenuation. The antagonistic information is characterized by a signed graph. We first show that the semi-decomposition approach, combining with Martingale convergence theorem, suffices to assure the bipartite consensus of the agents that are disturbed by additive noise. For multiplicative noise, we turn to the tool from Lyapunov-based technique to guarantee the boundedness of agents’ states. Based on it, the bipartite consensus with multiplicative noise can be achieved. It is found that the constant stochastic approximation control gain is inapplicable for the bipartite consensus with multiplicative noise. Moreover, the convergence rate of stochastic MASs with communication noise and antagonistic exchange is explicitly characterized, which has a close relationship with the stochastic approximation gain. Finally, we verify the obtained theoretical results via a numerical example.  相似文献   

15.
In this paper, we mainly tend to consider distributed leader-following fixed-time quantized consensus problem of nonlinear multi-agent systems via impulsive control. An appropriate quantized criterion and some novel control protocols are proposed in order to solve the problem. The protocols proposed integrates the two control strategies from the point of view of reducing communication costs and constraints, which are quantized control and impulsive control. The fixed-time quantized consensus of multi-agent is analyzed in terms of algebraic graph theory, Lyapunov theory and comparison system theory, average impulsive interval. The results show that if some sufficient conditions are met, the fixed-time consensus of multi-agent systems can be guaranteed under impulsive control with quantized relative state measurements. In addition, compared with finite-time consensus, the settling-time of fixed-time quantized consensus does not depend on the initial conditions of each agent but on the parameters of the protocol. Finally, numerical simulations are exploited to illustrate the effectiveness and performance to support our theoretical analysis.  相似文献   

16.
In this paper, we investigate the problem of leaderless consensus control for the multiagent systems whose nonlinear dynamics satisfying incremental quadratic constraints. A distributed dynamic consensus protocol, decided by communication among neighboring agents, is presented to render nonlinear agent consensus with appropriate coupling weights. Next, an observer-based distributed protocol is considered to ensure consensus of nonlinear system without knowing full state information. Further, extensions to consensus strategies with nonlinear dynamics for the leader-following fashion are also addressed. By comparison to the traditional nonlinear consensus control methodologies, the proposed approach generalizes the Lipschitz nonlinearity as well as the combined nonlinearity of one-sided Lipschitz condition and quadratic inner-boundness condition towards a more generalized type of nonlinearity, which shows us a less conservative result in the Lyapunov proof. Finally, the numerical simulations for six agents are illustrated to show the feasibility and performance of the proposed control protocol with or without the presence of the observer.  相似文献   

17.
This paper considers the fixed-time bipartite consensus of nonlinear multi-agent systems (MASs) subjected to external disturbances. Under the directed signed networks, several sufficient conditions are proposed to guarantee the fixed-time bipartite consensus of MASs with or without leaders, respectively. Some discontinuous control protocols are developed to realize fixed-time tracking bipartite consensus of MASs with a leader. Moreover, the fixed-time leaderless bipartite consensus under directed signed graph are discussed as well. Two numerical examples are given to verify the effectiveness of the theoretical results.  相似文献   

18.
《Journal of The Franklin Institute》2023,360(14):10681-10705
This paper investigates dynamic event-triggered adaptive leader-following semi-global bipartite consensus (SGBC) of multi-agent systems (MASs) with input saturation. A dynamic event-triggered adaptive control (DETAC) protocol is presented, where the triggering function can regulate its threshold value dynamically. It’s turned out that the SGBC can be achieved via the DETAC protocol under some inequalities. Then, the proposed DETAC protocol is extended to solve bipartite consensus under jointly connected topology. Furthermore, the Zeno behaviors will be avoided. Finally, the rationality of proposed DETAC protocols are tested by simulation results.  相似文献   

19.
This paper focuses on the leaderless and leader-following consensus problems of second-order nonlinear multi-agents under directed graphs. Both leaderless and leader-following consensus protocols are proposed for multi-agents with unknown control directions based on the Nussbaum-type gains. For the leaderless case, the proposed protocol can guarantee that the consensus errors asymptotically converge to zero. Moreover, for the leader-following case, the Lyapunov stability analysis shows that the consensus tracking errors can be made arbitrarily small by tuning the control parameters. It should also be noted that these proposed protocols do not require any information about the global communication topology and work with only the relative information of neighboring agents. Illustrative examples are given to show the effectiveness of the proposed control protocols.  相似文献   

20.
In this paper, we investigate the consensus tracking problem of nonlinear MASs with nonuniform time-varying input delays and external disturbances. For each follower, the composited disturbance observer and the state observer are employed to estimate bounded composited disturbances and unmeasured states, and a distributed observer based on output-feedback is proposed to approximate the leader’s states approachably. Sequentially, the consensus tracking control is converted into a stability control problem for the nonlinear MASs with nonuniform time-varying input delays. Subsequently, a distributed controller based on the truncated prediction approach is presented, which only depends on the boundary value of time-varying input delays. The distributed controller can render each follower synchronically stable via the Lyapunov stability theory. Finally, a group of single-link manipulators is used as an example to verify the effectiveness of the theoretical results.  相似文献   

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