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1.
The ability to ensure the desired performance of the cooperative-antagonistic multi-agent networks (MANs) in the presence of communication constraints is an important task in many applications of real systems. In this paper, under the proposed event-triggered condition (ETC), different types of consensus are obtained under different network topology. We concentrates on the event-based bipartite consensus. It is shown that under the proposed ETC (i) the addressed cooperative-antagonistic network with arbitrary communication delays reaches bipartite consensus provided that the network is balanced; (ii) the network model reaches zero if the network is unbalanced. Further, to avoid the continuously verifying the triggering condition, a self-triggered algorithm is proposed for realizing the bipartite consensus of the network model. A numerical example is given to illustrate the effectiveness of the theoretical results.  相似文献   

2.
This paper investigates consensus problem for heterogeneous discrete linear time-invariant (LTI) multi-agent systems subjected to time-varying network communication delays and switching topology. A new two-stage consensus protocol is proposed based on stochastic, indecomposable and aperiodic (SIA) matrix and pseudo predictive scheme. With pseudo predictive scheme the network delay is compromised. Consensus analysis based on seminorm is provided. Results give conditions for such systems with periodic switching topology and time-varying delays to reach consensus. Highlights of the paper include: the protocol can be implemented in a distributed manner; the pseudo predictive approach requires less computation and communication; the verification of consensus convergence does not require the global information about the communication topology; the protocol allows delay to be time-varying, topology to dynamically and asymmetrically switch and system mode to be unstable. Numerical and practical examples demonstrate the effectiveness of the theoretical results.  相似文献   

3.
This paper investigates the finite-time consensus problem of uncertain nonlinear multi-agent systems with asymmetric time-varying delays and directed communication topology. An auxiliary system is firstly designed to deal with the continuous or discontinuous time-varying communication delays. Based on the finite-time input-to-output framework, a novel consensus scheme relying on local delayed information exchange is proposed. Moreover, by utilizing an auxiliary integrated regressor matrix and vector method, the system uncertainties can be accurately estimated. Then the consensus of multi-agent systems can be achieved within finite time by selecting the control gains simply. Finally, numerical simulations are provided to demonstrate the effectiveness of the proposed control algorithms.  相似文献   

4.
This paper addresses the mean-square consensus problems of continuous-time heterogeneous multi-agent systems with communication noises. First, in order to attenuate the communication noises, time-varying consensus gains are applied in the consensus algorithm. Then, by using the tools of algebraic graph theory and stochastic analysis, sufficient conditions for the mean-square consensus are given for the cases with and without a leader. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithms.  相似文献   

5.
This paper investigates the bipartite leader-following consensus of second-order multi-agent systems with signed digraph topology. To significantly reduce the communication burden, an event-triggered control algorithm is proposed to solve the bipartite leader-following consensus problem, where a novel event-triggered function is designed. Under some mild assumptions on the network topology and node dynamics, a sufficient condition is derived using Lyapunov stability method and matrix theory to guarantee the bipartite consensus. In particular, it is shown that the continuous communication can be avoided and the Zeno-behavior can be excluded for the designed event-triggered algorithm. Numerical simulations are presented to illustrate the correctness of the theoretical analysis.  相似文献   

6.
Fractional-order calculus has been studied deeply because many networked systems can only be described with fractional-order dynamics in complex environments. When different agents of networked systems show diverse individual features, fractional-order dynamics with heterogeneous characters will be used to illustrate the multi-agent systems (MAS). Based on the distinguishing behaviors of agents, a compounded fractional-order multi-agent systems(FOMAS) is presented with diverse dynamical equations. Suppose multiple leader agents existing in FOMAS, containment consensus control of FOMAS with directed weighted topologies is studied. By applying frequency domain analysis theory of the fractional-order operator, an upper bound of delays is obtained to ensure containment controls of heterogenous FOMAS with communication delays. The consensus results of delayed fractional-order dynamics in this paper can be expanded to the integer-order models. Finally, the results are verified by simulation examples.  相似文献   

7.
This paper presents a privacy-preserving average consensus algorithm for a discrete-time network with heterogeneous dynamic nodes in the presence of Gaussian privacy noises. Rényi divergence is used to measure the privacy, and a distributed algorithm is proposed for each node in the network to protect the initial output state and ensure consensus almost surely. The convergence rate of the proposed algorithm relates to the communication topology, dynamics of systems, and decaying rates of privacy noises. Moreover, by increasing neighbors of nodes in the network, the proposed algorithm can strengthen preservation. To demonstrate the theoretical results, a numerical example is carried out on a network of one hundred nodes.  相似文献   

8.
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   

9.
In this paper, a distributed control protocol is presented for discrete-time heterogeneous multi-agent systems in order to achieve formation consensus against link failures and actuator/sensor faults under fixed and switching topologies. A model equivalent method is proposed to deal with the heterogeneous system consists of arbitrary order systems with different parameters. Based on graph theory and Lyapunov theory, stability conditions to solve formation consensus problem are developed for the underlying heterogeneous systems with communication link failures. In order to tolerate actuator/sensor faults, a distributed adaptive controller is proposed based on fault compensation. The desired control is designed by linear matrix inequality approach together with cone complementarity linearisation algorithm. After applying the new control scheme to heterogeneous systems under the directed topologies with link failures and faults, the resulting closed-loop heterogeneous system is validated to be stable. The effectiveness of the new formation consensus control strategy and its robustness are verified by simulations.  相似文献   

10.
This paper investigates the consensus problem of discrete-time networked multi-agent systems (DNMASs) with a directed topology and communication delay, where exact state and output of each agent are not measured, and yet output differences between agent and its neighboring ones (relative outputs for short) are available. Based on the networked predictive control scheme and relative output data, a novel protocol is proposed to overcome the effect of delay on the consensus actively. Moreover, for the DNMASs with a fixed topology and constant communication delay, delay-independent necessary and/or sufficient conditions of achieving consensus are obtained, which reveal that the essence of dominating the consensus is agents' dynamics and communication topology. Simulation results further demonstrate the effectiveness of theoretical results.  相似文献   

11.
In this paper, both leaderless and leader-follower consensus problems for a class of disturbed second-order multi-agent systems are studied. Based on integral sliding-mode control, sliding-mode consensus protocols are proposed for leaderless and leader-follower multi-agent systems with disturbances, respectively. Firstly, for leaderless second-order multi-agent systems, a sliding-mode consensus protocol is proposed to make the agents achieve asymptotic consensus. Secondly, for leader-follower second-order multi-agent systems, a finite-time sliding-mode consensus protocol is designed to make the agents achieve consensus in finite time. Both kinds of consensus protocols inherit the anti-disturbance performance and robustness of sliding-mode control and require less communication information. Finally, two numerical simulations are given for leaderless and leader-follower second-order multi-agent systems to validate the efficiency of the proposed consensus protocols.  相似文献   

12.
Oscillatory systems with time delays exist widely in actual industrial process. This paper discusses the design and tuning of linear active disturbance rejection controller (LADRC) for the oscillatory systems with large time delays. First, internal model controllers (IMC) are designed for the oscillatory systems to compensate the time-delay and cancel the complex poles; then they are implemented with the general LADRC structures and approximated with observer-bandwidth-based LADRCs. Afterwards, the third-order LADRC tuning formulas for oscillatory systems are derived from the IMC controllers. Simulation examples and load frequency control(LFC) in power system with communication delay are used to test the applicability of the proposed tuning formula.  相似文献   

13.
This paper studies the distributed Kalman consensus filtering problem based on the event-triggered (ET) protocol for linear discrete time-varying systems with multiple sensors. The ET strategy of the send-on-delta rule is employed to adjust the communication rate during data transmission. Two series of Bernoulli random variables are introduced to represent the ET schedules between a sensor and an estimator, and between an estimator and its neighbor estimators. An optimal distributed filter with a given recursive structure in the linear unbiased minimum variance criterion is derived, where solution of cross-covariance matrix (CCM) between any two estimators increases the complexity of the algorithm. In order to avert CCM, a suboptimal ET Kalman consensus filter is also presented, where the filter gain and the consensus gain are solved by minimizing an upper bound of filtering error covariance. Boundedness of the proposed suboptimal filter is analyzed based on a Lyapunov function. A numerical simulation verifies the effectiveness of the proposed algorithms.  相似文献   

14.
In this paper, we propose a novel method for addressing the multi-equilibria consensus problem for a network of n agents with dynamics evolving in discrete-time. In this method, we introduce, for the first time in the literature, two concepts called primary and secondary layer subgraphs. Then, we present our main results on directed graphs such that multiple consensus equilibria states are achieved, thereby extending the existing single-state consensus convergence results in the literature. Furthermore, we propose an algorithm to determine the number of equilibria for any given directed graph automatically by a computer program. We also analyze the convergence properties of multi-equilibria consensus in directed networks with time-delays under the assumption that all delays are bounded. We show that introducing communication time-delays does not affect the number of equilibria of the given network. Finally, we verify our theoretical results via numerical examples.  相似文献   

15.
In this paper, we study average consensus problem in networks of dynamic agents with uncertain topologies as well as time-varying communication delays. By using the linear matrix inequality method, we establish several sufficient conditions for average consensus in the existence of both uncertainties and delays. Several linear matrix inequality conditions are presented to determine the allowable upper bounds of time-varying communication delays and uncertainties. Numerical examples are worked out to illustrate the theoretical results.  相似文献   

16.
The leaderless, prescribed performance consensus problem for groups of agents with antagonistic interactions is addressed for the first time in this paper. We consider agents modeled by pure feedback nonlinear systems with unknown dynamics and an agent communication network described by a signed digraph with a directed spanning tree. A new proportional and integral (PI) variable transformation is proposed that enables the solution of the problem of leaderless bipartite consensus with prescribed performance by recasting it into a regulation problem with prescribed performance, which in turn we solve by a low complexity distributed control law. The algorithm guarantees uniform boundedness of all closed-loop signals and prescribed performance for the bipartite consensus error. Simulations verify the validity of our theoretical analysis.  相似文献   

17.
We study the consensus control of discrete-time second-order multi-agents systems with time delays and multiplicative noises, where the consensus protocol is designed by both the local relative position measurements and each agent’s absolute velocity. Due to the existence of time delays and multiplicative noises, the classical methods for deterministic models with time delays cannot work. In this paper, we apply stochastic stability theorem of discrete-time stochastic delay equations to find some explicit sufficient conditions for both mean square and almost sure consensus. It is proven that for any given noise intensities and time delays, the second-order multi-agent consensus can be achieved by choosing appropriate control gains in the relative position measurement and absolute velocity, respectively. Numerical simulation is given to demonstrate the effectiveness of the proposed protocols as well as the theoretical results.  相似文献   

18.
In this paper, the data-driven adaptive dynamic programming (ADP) algorithm is proposed to deal with the optimal tracking problem for the general discrete-time (DT) systems with delays for the first time. The model-free ADP algorithm is presented by using only the system’s input, output and the reference trajectory of the finite steps of historical data. First, the augmented state equation is constructed based on the time-delay system and the reference system. Second, a novel data-driven state equation is derived by virtue of the history data composed of input, output and reference trajectory, which is considered as a state estimator.Then, a novel data-driven Bellman equation for the linear quadratic tracking (LQT) problem with delays is deduced. Finally, the data-driven ADP algorithm is designed to solve the LQT problem with delays and does not require any system dynamics. The simulation result demonstrates the validity of the proposed data-driven ADP algorithm in this paper for the LQT problem with delays.  相似文献   

19.
This paper considers distributed consensus problem of multi-agent systems consisting of general linear dynamics with a time-invariant communication topology. A distributed full-order observer type consensus protocol based on relative output measurements of neighbor agents is proposed. It is found that the consensus problem of linear multi-agent systems with a directed communication topology having a spanning tree can be solved if and only if all subsystems are asymptotically stable. Some necessary and sufficient conditions are obtained for ensuring consensus in multi-agent systems. The design technique is based on algebraic graph theory, Riccati inequality and linear control theory. Finally, simulation example is given to illustrate the effectiveness of the theoretical results.  相似文献   

20.
This paper presents a novel event-triggered H∞ static output-feedback control for active vehicle suspension systems with network-induced delays. The proposed control schema introduces an event-triggering mechanism in the suspension system such that the communication resources can be significantly saved. By applying some improved slack inequalities and an augmented Lyapunov–Krasovskii functional (LKF), a new design condition expressed in the form of linear matrix inequalities (LMIs) is developed to derive the desired event-triggered controller. The obtained algorithm is then employed to solve the static output-feedback control gain. Compared with the traditional sampled-data H∞ control scheme, the proposed controller is able to provide an enhanced disturbance attenuation level while saving the control cost. Finally, comparative simulation results are provided to show the performance of the proposed event-triggered controller.  相似文献   

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