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1.
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   

2.
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   

3.
《Journal of The Franklin Institute》2021,358(18):10004-10028
In this paper, the consensus problem is considered for multi-agent systems with input constraint under directed graphs, including leaderless and leader-following cases. Different from existing related works, the distinct feature of this paper is that both the amplitude and rate of the agents’ input are ensured in the given ranges. For the leaderless case, the saturation control strategy is designed and employed for multi-agent systems consensus with the aid of a novel saturation function. For the leader-following case, the saturation-function-based distributed observer as well as the observer-based saturation controller are proposed to achieve consensus. Finally, simulation results show the effectiveness of the designed methods.  相似文献   

4.
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   

5.
The problem of adaptive leaderless consensus control of a class of uncertain strict feedback nonlinear systems with guaranteed transient performance is investigated in this paper. The system model is a class of strict feedback nonlinear systems with parametric uncertainty, actuator fault and external disturbance. How to guarantee the transient performance of consensus error is involved. To solve this problem, the consensus is transmitted into stabilization of a new variable. Ultimately the consensus errors will asymptotically converge to zero and faster than a given exponentially converging variable. Finally, simulation results show the effectiveness of proposed control scheme.  相似文献   

6.
The problem of finite-time consensus of linear multi-agent systems subject to input saturation is investigated and two control protocols are presented for leaderless and leader-following cases, respectively. The leaderless multi-agent systems with proposed non-smooth protocol can achieve consensus in finite time. The consensus protocol designed for leader-following case with directed topology can solve the finite-time consensus problem, where a priori constraint is adopted to deal with input saturation. Furthermore, the settling time is explicitly derived using finite-time Lyapunov theory. Finally, the effectiveness of the theoretical results is illustrated with several numerical simulations.  相似文献   

7.
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   

8.
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   

9.
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   

10.
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   

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.
This paper considers the event-triggered leaderless and leader-following consensus problems for linear multi-agent systems. By introducing event-triggered estimators, two novel control schemes are proposed. Different from the existing event-triggered controllers, which rely on the Fiedler eigenvalue of Laplacian matrix, the developed controllers only use the information from neighboring agents. Meanwhile, the adaptive trigger parameters are designed in the event-triggered mechanisms to improve the self-regulation ability of the event-triggered estimators. In addition, the leaderless consensus and the leader-following consensus can be achieved under the corresponding control protocols. Finally, two simulation examples are given to illustrate the validity of the proposed control protocols.  相似文献   

14.
This paper investigates group consensus for leaderless multi-agent systems with non-identical dynamics. The consensus protocol is put forward in the form of the distributed event-triggered control subject to saturation, which depends on information from neighboring agents at event-triggered instants. In order to exclude the Zeno behavior and save resources, the given event-triggered condition is detected only at discrete sampling times, where the sampling intervals can be variable. Based on the graph theory, Lyapunov–Krasovskii functional method and by adopting the free-weighting matrix technique, some sufficient group consensus criteria in terms of linear matrix inequalities are derived. Furthermore, optimization problems aiming at maximizing the event-triggered parameter and the consensus region are proposed. Finally, numerical simulations illustrate the effectiveness of the theoretical results.  相似文献   

15.
This paper address the distributed bipartite consensus problem of multi-agent systems (MASs) under undirected and directed topologies with dynamic event-triggered (DET) mechanism. The relationship among agents not only collaborative interaction but also competitive interaction are taken into account. A novel DET control protocol is raised with internal dynamic variables to guarantee that each agent can reach the bipartite consensus. Compared with the existing static triggering laws, the introduced DET strategy can significantly enlarge the interval time between two triggering instants. In addition, continuous information transmission in either controller updating or between agent and its neighbors is not demanded, which implies that the communication frequency can be extremely decreased. It is also proven that Zeno behavior does not occur. Finally, two numerical examples verify the validity of the presented theoretical results.  相似文献   

16.
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   

17.
In this paper, we investigate the cooperative control problem of high-order integrators under heterogeneous couplings. A new class of distributed control algorithms are developed for the designated convergence rate (DCR) problem of high-order integrators, which could explicitly show the convergence margin of the closed-loop system, and has better robustness than conventional consensus algorithms. We first propose state consensus control algorithms for high-order integrators, where necessary and sufficient convergence conditions are proposed by theoretical analysis. Then we extend the results to the case of output leaderless consensus of heterogeneous high-order integrators with heterogeneous couplings. Finally, simulation examples are given to validate the effectiveness of the proposed algorithms.  相似文献   

18.
This paper proposes a control algorithm for networks of multiple heterogeneous robot manipulators, which solves the leader–follower and the leaderless consensus problems in the operational space. In the leader–follower scenario, the controller ensures that all the robots in the network asymptotically reach a given leader pose (position and orientation), provided that, at least, one follower robot has access to the leader pose. Without a leader pose, in the leaderless problem, the robots asymptotically reach a pose of consensus. The controller is a simple distributed proportional plus damping injection (P+d) scheme which does not require velocity measurements. A singularity-free representation, unit quaternions, is used to describe the orientation of each manipulator. The paper presents some simulations, with a network of six 6-Degrees-of-Freedom (DoF) manipulators, and experiments, with a network of three 6-DoF manipulators, to show the effectiveness of the proposed controller.  相似文献   

19.
This paper studies a scaled consensus problem with output saturation in the sense that the states of agents reach assigned proportions rather than a common consensus value. Specifically, we investigate single-integrator agents with output saturation under both undirected and strongly connected graphs. Some conditions for single-integrator agents with output saturation are illustrated. The main contribution is that by employing an integral Lyapunov function, a necessary and sufficient condition is first obtained to reach scaled consensus among agents with output saturation. Simulation results are presented to show the performance of the scaled consensus.  相似文献   

20.
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   

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