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1.
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   

2.
This paper focuses on designing a leader-following event-triggered control scheme for a category of multi-agent systems with nonlinear dynamics and signed graph topology. First, an event-triggered controller is proposed for each agent to achieve fixed-time bipartite consensus. Then, it is shown that the Zeno-behavior is rejected in the proposed algorithm. To avoid intensive chattering due to the discontinuous controller, the control protocol is improved by estimating the sign function. Moreover, a triggering function is proposed which avoids continuous communication in the event-based strategy. Finally, numerical simulations are given to show the accuracy of the theoretical results.  相似文献   

3.
This paper addresses the problem of bipartite output consensus of heterogeneous multi-agent systems over signed graphs. First, under the assumption that the sub-graph describing the communication topology among the agents is connected, a fully distributed protocol is provided to make the heterogeneous agents achieve bipartite output consensus. Then for the case that the topology graph has a directed spanning tree, a novel adaptive consensus protocol is designed, which also avoids using any global information. Each of these two protocols consists of a solution pair of the regulation equation and a homogeneous compensator. Numerical simulations show the effectiveness of the proposed approach.  相似文献   

4.
In this paper, we study the fixed-time consensus problem for multi-agent systems with structurally balanced signed graph. A new class of fixed-time nonlinear consensus protocols is designed by employing the neighbor’s information. By using Lyapunov stability method, states of all agents can be guaranteed to reach agreement in a fixed time under our presented protocols, and the consensus values are the same in modulus but different in sign. Moreover, it is shown that the settling time is not dependent on the initial conditions, and it makes a good convenience to estimate the convergence time by just knowing the graph topology and the information flow of the multi-agent systems. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed consensus protocols.  相似文献   

5.
In this study, the fixed-time consensus (FDTC) for stochastic multi-agent systems (MASs) with discontinuous inherent dynamics is investigated via quantized control. Firstly, an improved lemma for fixed-time (FDT) stability is derived and several more precise estimations for settling time (SLT) are gained by using certain special functions. Secondly, a more general MAS containing discontinuous inherent dynamics and stochastic perturbations is considered, which is closer to practical life. Thirdly, to overcome the limitation of communication, two kinds of quantized control protocols are designed. Besides, in the light of the graph theory, non-smooth analysis, fixed-time (FDT) stability and stochastic analysis theory, some sufficient conditions are put forward to achieve FDTC of MASs. Finally, the validity of the derived theoretical results is testified by two numerical examples.  相似文献   

6.
This paper researches the output consensus problem of heterogeneous linear multi-agent systems with cooperative and antagonistic interactions. Two fixed-time state compensator control approaches, one static dynamic and the other distributed adaptive dynamic, are considered for heterogeneous systems subject to logarithmic quantization. Then, a fixed-time output regulation control protocol is constructed to cope with the problem of bipartite output consensus and adaptive fixed-time output consensus of heterogeneous systems which is fully distributed without any global information. Besides, the fully distributed adaptive algorithm is employed to calculate the system matrix of leader and it’s also effectively eliminated the harmful chattering. Finally, two simulations are carried out to testify the feasibility of theoretical results.  相似文献   

7.
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   

8.
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9.
In this paper, fixed-time consensus tracking problems under directed interaction topologies for second-order non-linear multi-agent systems with disturbance and second-order multi-agent systems with input delay are investigated. Two continuous integral terminal sliding modes are designed, which can effectively eliminate the singularity and chattering. Correspondingly, two fixed-time distributed control protocols are proposed based on the designed continuous ITSM to ensure that the consensus tracking are achieved in fixed-time. It is shown that the upper bounds of settling time are regardless of initial conditions. The rigorous proofs are given by employing Lyapunov stability theory and fixed-time stability theory. Simulations are provided to verify the effectiveness of the theoretical results.  相似文献   

10.
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   

11.
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   

12.
This paper considers the finite-time bipartite consensus problem governed by linear multiagent systems subject to input saturation under directed interaction topology. Due to the existence of input saturation, the dynamic performance of linear multiagent systems degrades significantly. For the improvement of the dynamic performance of systems, a dynamic gain scheduling control approach is proposed to design a dynamic Laplacian-like feedback controller, which can be obtained from the analytical solution of a parametric Lyapunov equation. Suppose that each agent is asymptotically null controllable with bounded control, and that the corresponding interaction topology of the signed directed graph with a spanning tree is structurally balanced. Then the dynamic Laplacian-like feedback control can ensure that linear multiagent systems will achieve the finite time bipartite consensus. The dynamic gain scheduling control can better improve the bipartite consensus performance of the linear multiagent systems than the static gain scheduling control. Finally, two examples are provided to show the effectiveness of the proposed control design method.  相似文献   

13.
In this paper, the leader-following bipartite consensus is investigated for a group of uncertain multiple Euler–Lagrange systems with disturbances. An innovative adaptive distributed observer is developed without requiring that followers surely acquire the leader’s auxiliary state and system matrix. A directed signed network satisfying the principle of structural balance is exploited to describe the interaction among agents. Then a novel bipartite consensus control protocol is proposed to solve the bipartite consensus problem of multiple Euler–Lagrange systems. The theoretical proof is provided via constructing a Lyapunov function and applying Barbalat lemma to analyze the convergence problem. Finally, a numerical simulation is utilized to demonstrate the effectiveness of proposed method.  相似文献   

14.
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   

15.
This paper is concerned with the finite-time and fixed-time synchronization of complex networks with discontinuous nodes dynamics. Firstly, under the framework of Filippov solution, a new theorem of finite-time and fixed-time stability is established for nonlinear systems with discontinuous right-hand sides by using mainly reduction to absurdity. Furthermore, for a class of discontinuous complex networks, a general control law is firstly designed. Under the unified control framework and the same conditions, the considered networks are ensured to achieve finite-time or fixed-time synchronization by only adjusting the value of a key control parameter. Based on the similar discussion, a unified control strategy is also provided to realize respectively asymptotical, exponential and finite-time synchronization of the addressed networks. Finally, the derived theoretical results are supported by an example with numerical simulations.  相似文献   

16.
This article researches the bipartite consensus for discrete-time second-order multi-agent systems on matrix-weighted signed networks, which can describe the inter-dependencies of multidimensional states among states. So as to save limited communication resources, based on the matrix-weighted combined measurements of the position and velocity states, a matrix-weighted event-triggered control algorithm is designed. With the help of the stability theory, variable transformation and the inequality technique, the bipartite consensus conditions which are based on coupling gains, discrete interval, the parameters in the event-triggered rule and communication topology are obtained. Furthermore, the conditions to avoid the controller updating in each discrete-time are supplied. At last, a simulation example is offered to demonstrate the theoretical results.  相似文献   

17.
This paper solves the finite-time consensus problem for discrete time multi-agent systems (MASs) where agents update their values via linear iteration and the interactions between them are described by signed digraphs. A sufficient condition is presented that the agents can reach consensus on any given linear function of multiple initial signals in finite time, i.e., there exists an eventually positive Laplacian-based matrix associated with the underlying graph. We prove that the linear iterative framework “ratio consensus” developed for unsigned graphs in the literature can be extended to the computation for signed graphs with appropriate modifications. Our method weakens the limitation of the iterative framework on the “marginal Schur stability” of the weight matrix without increasing the computational complexity. Reaching average consensus on unsigned graphs as in the literature is regarded as a special case of our algorithm. Two illustrative examples are presented to demonstrate the correctness of the proposed results.  相似文献   

18.
In this paper, an interventional bipartite consensus problem is considered for a high-order multi-agent system with unknown disturbance dynamics. The interactions among the agents are cooperative and competitive simultaneously and thus the interaction network (just called coopetition network in sequel for simplicity) is conveniently modeled by a signed graph. When the coopetition network is structurally balanced, all the agents are split into two competitive subgroups. An exogenous system (called leader for simplicity) is introduced to intervene the two competitive subgroups such that they can reach a bipartite consensus. The unknown disturbance dynamics are assumed to have linear parametric models. With the help of the notation of a disagreement state variable, decentralized adaptive laws are proposed to estimate the unknown disturbances and a dynamic output-feedback consensus control is designed for each agent in a fully distributed fashion, respectively. The controller design guarantees that the state matrix of the closed-loop system can be an arbitrary predefined Hurwitz matrix. Under the assumption that the coopetition network is structurally balanced and the leader is a root of the spanning tree in an augmented graph, the bipartite consensus and the parameter estimation are analyzed by invoking a common Lyapunov function method when the coopetition network is time-varying according to a piecewise constant switching signal. Finally, simulation results are given to demonstrate the effectiveness of the proposed control strategy.  相似文献   

19.
《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   

20.
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   

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