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1.
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   

2.
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   

3.
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   

4.
This paper studies the consensus problem for a class of nonlinear multi-agent systems with asymmetric time-varying output constraints and completely unknown non-identical control directions. Firstly, in order to deal with the problem of asymmetric time-varying output constraints, the original output-constrained multi-agent systems are transformed into new unconstrained multi-agent systems by constructing the state transformation for each agent. Secondly, the emergence of multiple Nussbaum-type function terms is avoided by introducing novel sliding-mode-esque auxiliary variables and consensus estimate variables, which allows the control directions to be completely unknown non-identical. Thirdly, a novel control strategy is proposed by combining novel variables with state transformation method for the first time, which makes the design of distributed consensus protocol more concise. Through Lyapunov stability analysis, the proposed distributed protocol ensures that the output constraints are never violated and the consensus can be achieved asymptotically. Finally, a practical simulation example is given to demonstrate the effectiveness of the proposed distributed consensus protocol.  相似文献   

5.
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   

6.
In this paper, a protocol is proposed for fixed-time consensus of the high-order chained-form multi-agent systems subject to non-holonomic constraints. By employing the backstepping structure and a power integrator, the distributed fixed-time protocol is designed to guarantee that system states reach consensus before a fixed time. The fixed settling time can be calculated explicitly, and it is independent of initial conditions. The proposed protocol is applied to multi-agent wheeled mobile robots to support the theoretical result.  相似文献   

7.
The consensus tacking problem for multi-agent systems with a leader of none control input and unknown control input is studied in this paper. By virtue of the relative state information of neighboring agents, state estimator and disturbance estimator are designed for each follower to estimate the system states and exogenous disturbance, respectively. Meanwhile, a novel control protocol based on two estimators is designed to make tracking error eventually converge to zero. Furthermore, the obtained results are further extended to the leader with unknown control input. A novel state estimator with adaptive time-varying gain is proposed such that consensus tracking condition is independent of the Laplacian matrix with regard to the communication topology. Finally, two examples are presented to verify the feasibility of the proposed control protocol.  相似文献   

8.
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   

9.
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   

10.
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   

11.
In this paper, the event-triggered bipartite consensus problem is investigated for nonlinear multi-agent systems under switching topologies, only part of topologies contain directed spanning tree rooted at the leader. First, a dynamic bipartite compensator is constructed based on relative output information to provide control signal. Then, the time-varying gain method is adopted to propose a compensator-based event-triggered control protocol without Zeno behavior. Notably, the control protocol proposed achieves the bipartite consensus while reducing update frequency effectively. Moreover, a low conservative switching law is designed by the topology-dependent average dwell time strategy, which fully considers the differences among topologies and provides an independent average dwell time for each topology. As an extension, the nonlinear multi-agent systems with non-zero input of leader are further studied. Finally, a practical example is presented to demonstrate the feasibility of proposed control protocol.  相似文献   

12.
This paper addresses the problem of cluster lag consensus for first-order multi-agent systems which can be formulated as moving agents in a capacity-limited network. A distributed control protocol is developed based on local information, and the robustness of the protocol is analyzed by using tools of Frobenius norm, Lyapunov functional and matrix theory. It is shown that when the root agents of the clusters are influenced by the active leader and the intra-coupling among agents is stronger enough, the multi-agent system will reach cluster lag consensus. Moreover, cluster lag consensus for multi-agent systems with a time-varying communication topology and heterogeneous multi-agent systems with a directed topology are studied. Finally, the effectiveness of the proposed protocol is demonstrated by some numerical simulations.  相似文献   

13.
This paper mainly focuses on the adaptive synchronization problem of multi-agent systems via distributed impulsive control method. Different from the existing investigations of impulsive synchronization with fixed time impulsive inputs, the proposed distributed variable impulsive protocol allows that the impulsive inputs are chosen within a time period (namely impulsive time window) which can be described by the distances of the left (right) endpoints or the centers between two adjacent impulsive time windows. Obviously, this kind of flexible control scheme is more effective in practical systems (especially for the complex environment with physical restrictions). Moreover, the proposed adaptive control technique is helpful to solve the problem with uncertain system parameters. By means of Lyapunov stability theory, impulsive differential equations and adaptive control technique, three sufficient impulsive consensus conditions are given to realize the synchronization of a class of multi-agent nonlinear systems. Finally, two numerical simulations are provided to illustrate the validity of the theoretical analysis.  相似文献   

14.
This paper studies the time-varying output formation tracking problems for heterogeneous linear multi-agent systems with multiple leaders in the presence of switching directed topologies, where the agents can have different system dynamics and state dimensions. The outputs of followers are required to accomplish a given time-varying formation configuration and track the convex combination of leaders’ outputs simultaneously. Firstly, using the neighboring relative information, a distributed observer is constructed for each follower to estimate the convex combination of multiple leaders’ states under the influences of switching directed topologies. The convergence of the observer is proved based on the piecewise Lyapunov theory and the threshold for the average dwell time of the switching topologies is derived. Then, an output formation tracking protocol based on the distributed observer and an algorithm to determine the control parameters of the protocol are presented. Considering the features of heterogeneous dynamics, the time-varying formation tracking feasible constraints are provided, and a compensation input is applied to expand the feasible formation set. Sufficient conditions for the heterogeneous multi-agent systems with multiple leaders and switching directed topologies to achieve the desired time-varying output formation tracking under the designed protocol are proposed. Finally, simulation examples are given to validate the theoretical results.  相似文献   

15.
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   

16.
Most of the available results of iterative learning control (ILC) are that solve the consensus problem of lumped parameter models multi-agent systems. This paper considers the consensus control problem of distributed parameter models multi-agent systems with time-delay. By using the knowledge between neighboring agents, considering time-delay problem in the multi-agent systems, a distributed P-type iterative learning control protocol is proposed. The consensus error between any two agents in the sense of L2 norm can converge to zero after enough iterations based on proposed ILC law. And then we extend these conclusions to Lipschitz nonlinear case. Finally, the simulation result shows the effectiveness of the control method.  相似文献   

17.
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18.
Time-varying formation tracking problems for high-order multi-agent systems with switching topologies are investigated. Different from the previous work, the states of the followers form a predefined time-varying formation while tracking the state of the leader with bounded unknown control input. Besides, the communication topology can be switching, and the dynamics of each agent can have nonlinearities. Firstly, a nonlinear time-varying formation tracking control protocol is presented which is constructed using only local neighboring information. Secondly, an algorithm with four steps is proposed to design the time-varying formation tracking protocol, where the time-varying formation tracking feasibility condition is introduced. Thirdly, by using the Lyapunov theory, the stability of the proposed algorithm is proven. It is proved that the high-order multi-agent system with switching topologies achieves the time-varying formation tracking if the feasibility condition holds and the dwell time is larger than a positive constant. Finally, a numerical example with six followers and one leader is given to demonstrate the effectiveness of the obtained results.  相似文献   

19.
In this article, a novel distributed event-triggered control protocol for the consensus of second-order multi-agent systems with undirected topology is studied. Based on the proposed control protocol, the event-triggered condition is evaluated only at every sampling instant. The control input for each agent will be updated with local information if and only if its condition is violated. Both ideal and quantized relative state measurements are considered under this framework. Some sufficient conditions for achieving consensus are derived using spectral properties of edge Laplacian matrix and the discrete-time Lyapunov function method. Finally, numerical examples are given to demonstrate the effectiveness of our theoretical results.  相似文献   

20.
In this paper, we mainly investigate the finite-time consensus problem of general linear multi-agent systems. The paper proposed a suitable event-triggered control strategy. The strategy has some desirable properties including: distributed, independent, and asynchronous. It is theoretical demonstrated that the multi-agent system can achieve consensus in a certain time regardless of the initial condition under this event-triggered control scheme. In addition, without finding singular triggering problem, we prove the feasibility of this proposed event-triggered control protocol. Finally, we put forward some simulation graphs for the sake of showing the availability of our conclusions.  相似文献   

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