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1.
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   

2.
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   

3.
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   

4.
In this paper, the issue of leader-following consensus for nonlinear multi-agent systems (NMASs) suffered from uncertain nonhomogeneous Markov switching (UNMS) and denial-of-service (DoS) cyber attacks is studied. In contrast with the existing results on NMASs with a fixed topological structure, the communication topology is governed by an UNMS jump process, where the transition rates (TRs) of UNMS are considered to be partially known or completely unknown. Also, the changes of communication topologies caused by frequently DoS cyber attacks are taken into consideration, which will destroy the chains of communication and lead to network paralysis in NMASs. In view of this, based on the stochastic technique and multiple Lyapunov functional protocol, mean-square leader-following consensus conditions related to NMASs with the UNMS and DoS cyber attacks are proposed. Finally, the effectiveness of the presented theoretical results is validated by numerical example.  相似文献   

5.
《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   

6.
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   

7.
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   

8.
In this paper, the leader-following consensus problem of general linear multi-agent systems without direct access to real-time state is investigated. A novel observer-based event-triggered tracking consensus control scheme is proposed. In the control scheme, a distributed observer is designed to estimate the relative full states, which are used in tracking consensus protocol to achieve overall consensus. And an event-triggered mechanism with estimated state-dependent event condition is adopted to update the control signals so as to reduce unnecessary data communication. Based on the Lyapunov theorem and graph theory, the proposed event-triggered control scheme is proved to implement the tracking consensus when real-time state cannot direct obtain. Moreover, such scheme can exclude Zeno-behavior. Finally, numerical simulations illustrate the effectiveness of the theoretical results.  相似文献   

9.
In this paper, the leader-following consensus problem is investigated by event-triggered control for multi-agent systems subject to time-varying actuator faults. Firstly, for a case of the leader without control input, a distributed event-triggered fault-tolerant protocol is proposed with the help of adaptive gains. Secondly, the proposed protocol is developed by an auxiliary nonlinear function to compensate the effect of the leader’s unknown bounded input. It is shown that under the both obtained protocols the tracking errors converge to an adjustable neighborhood around the origin, meanwhile the Zeno behavior is avoided. Moreover, the protocols are fully distributed in sense that any global information associated with the network is no longer utilized. Finally, numerical examples are presented to show the validity of the obtained protocols.  相似文献   

10.
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   

11.
An event-triggered leader-following consensus problem for multi-agent systems with nonlinear dynamics was investigated in this study. The interaction topologies among the agents that we considered are randomly switched ones, governed by a semi-Markov process with partially unknown rates. By building the state error model between the leader and followers, the consensus problem is first converted into a stability problem. Moreover, an event-triggered transmission scheme based on sampling data was proposed to reduce communication redundancy. The consensus controller and event-triggered parameters can be designed effectively. By constructing a Lyapunov–Krasovskii functional (LKF) with a triple integral, the sufficient conditions required to guarantee the event-triggered consensus can be reached with respect to the linear matrix inequalities (LMIs). Ultimately, the validity of the theoretical results is demonstrated by a numerical example.  相似文献   

12.
This study discusses the finite-time consensus for the second-order leader-following nonlinear multi-agent system with event-triggered communication. An event-triggered control protocol is established to achieve finite-time consensus, which can effectively avoid the Zeno behavior. Due to the unevenness of an event-triggered controller and the occurrence of the event-triggered condition, it is more challenging to analyze the event-triggered finite-time consensus. Based on the knowledge of graph theory, all agents can achieve finite-time consensus via the proposed event-triggered control protocol. Different from homogeneity, a Lyapunov function is constructed to obtain the settling time. Finally, a simulation example illustrates the validity of the main results.  相似文献   

13.
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   

14.
This paper investigates secure bipartite consensus tracking of linear multi-agent systems under denial-of-service(DoS) attacks by using event-triggered control mechanism with data sampling. Both bipartite leader-following and containment tracking consensus are considered in this paper. The event-triggered control protocol using sampled-data information is designed to save limited resources. The communication channels are interrupted by intermittent DoS attacks. Sufficient conditions on the sampling periods, attack frequency and attack duration are obtained to ensure secure bipartite tracking consensus of the multi-agent systems. Finally, simulation example is provided to illustrate the effectiveness of the theoretical results.  相似文献   

15.
This paper investigates the event-based consensus problems for linear multi-agent systems under directed network topology. First, a new event-triggered control method is proposed for the leader-following consensus problem of agents under directed graphs. Then this new method is applied to the cluster control problem under special topological conditions. The new event-based control scheme is better than some existing literature in the following aspects. 1) The graph only needs to contain a spanning tree instead of being required to be strongly connected graph or undirected, and the triggering function is state-dependent rather than time-dependent. 2) Some parameters are designable for the trade-off between the event interval and the performance of the controlled system. Besides, the optimization of some parameters is studied to reduce the trigger frequency. All the agents can achieve consensus with an exponential speed when communications among follower agents are intermittent, and Zeno behavior is excluded under the proposed method. 3) When applying this method to the cluster control problem, agents in the same cluster share the same form of triggering function. Cluster consensus can be achieved regardless of intra- and inter-cluster relative coupling strength under the event-triggered control framework.  相似文献   

16.
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   

17.
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   

18.
This paper is concerned with event-triggered secure consensus for a class of linear multi-agent systems (MASs) under denial-of-service (DoS) attacks. Different from some existing methods, a multi-sensor multi-rate (MSMR) sampling mechanism is introduced to sample system states of agents. A class of multi-rate observer is devised to deal with some problems involved, such as the asynchrony and the incompleteness of several state sub-vectors, caused by the MSMR sampling mechanism. By using the partially updated state information of each agent, a novel multi-rate event-triggered mechanism is proposed, in which the continuous monitoring of the combined measurement information is avoided. Then, an event-based distributed secure consensus control protocol is presented against DoS attacks for the MAS under a directed communication topology. By taking into account the information on the duration and frequency of the DoS attacks, a sufficient condition is established to design suitable control protocols such that consensus can be achieved. Finally, a numerical example is provided to show the effectiveness of the proposed method.  相似文献   

19.
The event-triggered consensus control for second-order multi-agent systems subject to actuator saturation and input time delay, is investigated in this paper. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. Communication energy can be saved as the agents send their state information only at infrequent event instants, the continuous communication among agents is not necessary. Lyapunov-Krasovskii functional is used together with linear matrix inequality technique to analyze the stability of the closed-loop error system. The results show that agents achieve exponentially consensus under the proposed controller. Furthermore, the bounds of solution are obtained by establishing the differential equation associated with the first delay interval. The initial domain is estimated by optimizing the linear matrix inequalities. Finally, simulation examples are presented to illustrate the effectiveness of the proposed controller.  相似文献   

20.
The leader-following consensus problems for multi-agent systems with a linear and Lipschitz nonlinear dynamics are considered. Distributed adaptive protocols and Lipschitz distributed adaptive protocols are respectively designed for the linear and Lipschitz nonlinear cases, under which leader-following consensus is reached for jointly connected topology. Finally, a simulation example is provided to illustrate the theoretical results.  相似文献   

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