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1.
In this paper, the leader-following rotating formation control problem is investigated for second-order multi-agent systems with nonuniform time-delays. We propose a distributed algorithm to drive all agents to achieve a desired formation and orbit around a common point. By a frequency domain analysis method, the upper bound of the maximum time-delay is obtained. Finally, a numerical simulation is given to illustrate the obtained results.  相似文献   

2.
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   

3.
This paper considers the group output consensus problem for a class of disturbed port-controlled Hamiltonian multi-agent systems via a composite control method. The composite distributed control protocol is proposed by combining the damping injection and energy shaping method, the finite-time disturbance observer (FTDO) technique and distributed protocol, which makes the closed-loop Hamiltonian multi-agent systems asymptotically stable and the group outputs reach consensus. It is shown that many kinds of disturbances can be estimated accurately via the FTDO. The advantage is that this control scheme exhibits not only better robustness against disturbances, but also the nominal system recovery performance. Two illustrative examples reveal that the designed control protocol is effective.  相似文献   

4.
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   

5.
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   

6.
This paper is concerned with a consensus problem of a class of second-order multi-agent systems with nonuniform time-delays. A distributed consensus algorithm is adopted to drive all agents to reach consensus and move together with a constant velocity. By a frequency domain approach, an upper bound on the maximum of the time-delays that can be tolerated is given for the consensus of the system.  相似文献   

7.
In this paper, the specified-time bearing-based formation control problem is investigated via a dynamic gain approach. Both the leader-follower and leaderless cases for single- and double-integral multi-agent systems are considered with bearing measurement, respectively. By considering the communication graph as bearing rigid, distributed bearing-based controllers with a time-varying gain are designed. By using time transformation method and Lyapunov stability theory, the close-loop systems under the proposed protocols can achieve the target formation within the specified time. Comparing with some existing results, the proposed approaches can make multi-agent systems converge to the desired formation within any preset time without dependence on the initial conditions or system parameters. Finally, some simulations and experiments are presented to demonstrate the effectiveness of the proposed algorithms.  相似文献   

8.
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   

9.
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   

10.
This paper investigates finite-time formation control problems of heterogeneous multi-agent systems subject to mismatched and matched disturbances. The studied agents are modelled with both different orders and dimensions. To achieve the desired finite-time formation control goal, a novel signal generator based finite-time formation control scheme is proposed, which is composed of two parts. In the first part, a distributed finite-time signal generator is established to produce formation references for the agents in finite time. In the second part, based on finite-time observer technique and homogeneous systems theory, a kind of composite anti-disturbance controllers are constructed for the agents to track the formation references in finite time. In this way, the studied multi-agent system completes the desired finite-time formation control task. Compared with the existing results, the proposed control scheme solves the disturbed finite-time formation control problems with both different agents’ orders and dimensions, simplifies the formation controller design by using a modular design philosophy, and makes the agents have a plug and play feature. A simulation example is shown to validate the effectiveness of the proposed control scheme.  相似文献   

11.
This paper deals with the containment control problem for multi-agent systems with exogenous disturbances. A disturbance observer-based control approach is employed to estimate the disturbances generated by an exogenous system. Consequently, distributed disturbance observer-based containment control protocols are proposed by using the state feedback control and the output feedback control, respectively. Furthermore, with the help of algebraic graph theory and Lyapunov stability theory, sufficient conditions are established to ensure that multi-agent systems with exogenous disturbances can achieve containment control via the disturbance observer-based approach. Finally, the effectiveness of our theoretical results is verified by providing numerical simulation examples.  相似文献   

12.
In this paper, a new predictor-based consensus disturbance rejection method is proposed for high-order multi-agent systems with Lipschitz nonlinearity and input delay. First, a distributed disturbance observer for consensus control is developed for each agent to estimate the disturbance under the delay constraint. Based on the conventional predictor feedback approach, a non-ideal predictor based control scheme is constructed for each agent by utilizing the estimate of the disturbance and the prediction of the relative state information. Then, rigorous analysis is carried out to ensure that the extra terms associated with disturbances and nonlinear functions are properly considered. Sufficient conditions for the consensus of the multi-agent systems with disturbance rejection are derived based on the analysis in the framework of Lyapunov–Krasovskii functionals. A simulation example is included to demonstrate the performance of the proposed control scheme.  相似文献   

13.
This study examines the leader-following consensus problem of a class of second-order nonlinear multi-agent systems, where the velocity information is supposed to be unmeasurable. Under the setting, this paper presents a novel aperiodically intermittent output feedback control protocol such that all followers reach consensus with the leader, in which a distributed state observer is built for each follower to observe the velocity state. Based on the Lyapunov stability theory and some matrix analysis techniques, a couple of sufficient conditions for the leader-following consensus of the nonlinear multi-agent system under study are obtained even though the velocity state is unavailable. Finally, the effectiveness of the theoretical results is verified by numerical simulation.  相似文献   

14.
This note is concerned with global stabilization of linear systems subject to input saturation and time delays. Based on the Luenberger canonical form, two new decoupling methods are proposed. For the decoupled system, according to some special canonical forms, we propose two control laws for systems with input time-delays and systems with input saturation and time-delays, and give explicit conditions to ensure the global stability of the closed-loop system. Two special canonical forms contain time delays in input and state vectors, which is essential in recursive design. In addition, for the system subject to input saturation and time-delay, we introduce some free parameters when designing the controller, which can improve the instantaneous performance of the closed-loop system. Finally, the proposed approach is applied on the multi-agent system to design global stabilizing controllers and the effectiveness of the proposed controllers are illustrated by numerical simulations.  相似文献   

15.
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16.
In this paper, we deal with the cooperative output regulation problem of linear multi-agent systems on a directed network topology subject to both stochastic packet dropout and time-varying communication delay. On the basis of introducing a queuing mechanism, a distributed state feedback control algorithm is proposed. Then the continuous-time multi-agent systems with piece-wise constant control are converted into discrete-time systems. Under some standard assumptions, the necessary and sufficient conditions under which the tracking errors of followers approach to the origin asymptotically are proposed for different exosystems. Finally, the proposed results are verified via two examples.  相似文献   

17.
The bipartite time-varying formation group containment tracking control problem of multi-agent systems with unknown input leader on semi-signed digraph is studied. In this paper, the multi-agent system is divided into three layers: the leader layer with unknown input, the formation layer with cooperative-competitive relationship, and the containment layer without competitive relationship. First, the formation members in formation layer track the state of the leader in the leader layer, to achieve bipartite time-varying formation and form two convex hull. Then, by assuming two subgroups of the containment layer exist a well-informed individual (which can receive corresponding convex hull of all the formation members of communication), respectively, the followers of the two subgroups can not only converge to respectively two convex hulls formed by formation layer, also can make the followers of the same subgroup converge to a common value, this provides a prerequisite for the formation control of the followers in the containment layer. Next, different control protocols are designed for formation layer and containment layer respectively based on neighbor information, and Lyapunov function is constructed to provide stability proof for the realization of the problem. Finally, several simulation results are given to verify the validity of the theory.  相似文献   

18.
Practical time-varying output formation tracking problems with collision avoidance, obstacle dodging and connectivity maintenance for high-order multi-agent systems are investigated, and the practical time-varying output formation tracking error is controlled within an arbitrarily small bound. The outputs of followers are designed to track the output of the leader with unknown control input while retaining the predefined time-varying formation. Uncertainties are considered in the dynamics of the followers and the leader. Firstly, distributed extended state observers are developed to estimate the uncertainties and the leader’s unknown control input. A strategy of obstacle dodging is given by designing an ideal secure position for the followers which are in the threatened area of the obstacles. By constructing collision avoidance, obstacle dodging and connectivity maintenance artificial potential functions, corresponding negative gradient terms are calculated to achieve the safety guarantee. Secondly, a practical time-varying output formation tracking protocol is proposed by using distributed extended state observers and the negative gradient terms. Additionally, an approach is presented to determine the gain parameters in the protocol. The stability of the closed-loop multi-agent system with the protocol is analyzed by using Lyapunov stability theory. Finally, a simulation experiment is provided to illustrate the effectiveness of the obtained methods.  相似文献   

19.
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   

20.
Repeated practice is one of the most effective methods in improving the performance of coordination control tasks for groups of individuals, such as marching band, soldier (tank or warcraft) formation, and unmanned aerial vehicle flying queue. The key objective of this paper is to give a theoretical explanation for this observed behavior by considering a class of coordination learning problems for groups of mobile agents. To be specific, the agents are considered to preserve the desired relative formations between each other through a learning process, for which iterative rules are applied to construct distributed algorithms based on the relative information between each agent and its neighbors. Convergence results are derived by combining the graph theory based method and the Lyapunov analysis, which can address coordination learning problems for multi-agent systems both with and without a reference as the prior knowledge. In addition, numerical simulation results are provided to demonstrate the coordination learning performance for groups of mobile agents.  相似文献   

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