Consensus Of Heterogeneous Multi-agent Systems Research Articles

Event-triggered sliding mode based consensus tracking in second order heterogeneous nonlinear multi-agent systems

This work targets the problem of leader following consensus in heterogeneous multi-agent systems described by second order nonlinear dynamics. The controller proposed in the study is an event-based sliding mode controller. Synthesis of the controller has been partitioned into two parts– a finite time consensus problem and an event-based control mechanism. In the first part, the leader following heterogeneous multi-agents of second order having inherent nonlinear dynamics have been addressed and a novel sliding mode reaching law based on inverse sine hyperbolic function has been designed to drive the agents towards consensus. In the second part, an event-based implementation of the control law has been incorporated to minimize computational load on the computational device equipped with the agents and reduce energy expenditure. The triggering rule proposed in this work is dynamic and taking samples respecting this rule ascertains that the desired closed-loop performance of the system is not compromised while exhibiting robustness and high efficacy. The advantage of using such a scheme, i.e., an event-based sliding mode controller is rooted in the robustness capabilities of sliding mode controller and reducing computational expenses via event-based mechanisms. Numerical simulations and mathematical foundations confirm the effectuality of the controller proposed in this study.

Consensus Protocols for Heterogeneous Multiagent Systems with Disturbances via Integral Sliding Mode Control

The existing results on consensus of multiagent systems are mainly based on homogeneous systems; that is, all agents have the same dynamic model. This paper focuses on consensus of heterogeneous multiagent systems, which consist of first-order and second-order integrator agents. Based on integral sliding mode control, the consensus protocols of heterogeneous multiagent systems with disturbances are investigated under the directed networks. Some sufficient conditions for finite-time consensus are obtained by utilizing Lyapunov stability theory. Finally, some examples verify the effectiveness of the proposed control schemes.

Semiglobal consensus of heterogeneous multiagent systems with input saturations

SummaryThis paper studies the semiglobal leaderless state consensus problem for heterogeneous multiagent systems with input saturations. Utilizing the low gain approach, we propose the consensus algorithms that consist of reference generator and regulator. We construct the reference generators using both the relative states of reference generators and agents. Moreover, we apply the anti‐windup technique to generate bounded common trajectory of reference generators such that the regulators under input saturations can track the reference trajectory. Then, we prove the existence of consensus algorithms to achieve the semiglobal consensus. Finally, numerical examples are presented to demonstrate the theoretical results.

Constraint consensus of heterogeneous multi-agent systems

In this brief paper, we study the constraint consensus problem of heterogeneous multi-agent systems. First, we provide an invariant set, which can be exactly obtained by solving linear equations. Then, a virtual system is defined on this invariant set such that it is the largest common embedded system of all the individual agents. Afterwards, a linear consensus protocol is proposed with the corresponding constraint consensus criterion. In particular, the above virtual system can reveal all the asymptotic dynamical behaviors if heterogeneous multi-agent systems achieve consensus. Finally, an example with numerical simulations is given to illustrate the validity of our criterion.

Mean-square consensus of heterogeneous multi-agent systems with communication noises

This paper addresses the mean-square consensus problems of continuous-time heterogeneous multi-agent systems with communication noises. First, in order to attenuate the communication noises, time-varying consensus gains are applied in the consensus algorithm. Then, by using the tools of algebraic graph theory and stochastic analysis, sufficient conditions for the mean-square consensus are given for the cases with and without a leader. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithms.

Mean-square consensus of heterogeneous multi-agent systems with nonconvex constraints, Markovian switching topologies and delays

Abstract This paper addresses the velocity-constrained mean-square consensus problem of heterogeneous multi-agent systems with Markovian switching topologies and time-delay, which consist of first-order and second-order agents. A distributed control law with time-varying gains is proposed to make the position states of both first-order and second-order agents mean-square converge to a common point and the velocities of second-order agents mean-square converge to zero, while their velocities remain in the corresponding nonconvex constraint sets. Based on novel multiple model transformations, the consensus analysis is completed by studying the asymptotic dynamics of a time-varying matrix system. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithms.

The Consensus for Discrete-Time Heterogeneous Networked Systems Consisting of Second-Order Agents and Third-Order Agents

This paper studies the consensus problem for the heterogeneous multiagent systems. The systems considered are assumed to consist of second-order agents and third-order agents. Both the fixed topology and the stochastic switching topology are considered. We first convert the heterogeneous multiagent systems into the equivalent error systems. Then, we analyze the consensus problem of the multiagent systems by analyzing the stability problem of the error systems. A sufficient condition for consensus of heterogeneous multiagent systems is obtained based on algebraic graph theory and linear system theory for the case of fixed topology. A necessary and sufficient condition for mean-square consensus of multiagent systems is obtained for the case of switching topology. Simulation examples are given to show the effectiveness of the obtained results.

Finite-Time Consensus of Heterogeneous Multi-Agent Systems Without Velocity Measurements and With Disturbances via Integral Sliding Mode Control

In this paper, the finite-time consensus protocols are designed to solve the problems of unmeasured velocity and disturbances in heterogeneous multi-agent systems, in which the communications among agents are described by a directed graph. The proposed consensus protocols use only position measurements. The velocity of the agents is estimated according to the position measurements of multi-agent systems. The integral sliding mode control is adopted to eliminate the bounded disturbances of the systems and shorten the time to achieve consensus. The sufficient conditions for finite-time consensus are obtained by employing Lyapunov stability theory. Finally, simulations are provided to verify the effectiveness of the proposed schemes.

Consensus for discrete-time heterogeneous networked systems consisting of third-order and first-order agents under fixed and switching topologies

This paper investigates the consensus problem for heterogeneous multi-agent systems consisting of third-order and first-order agents. The interaction topology includes both fixed and switching cases. First, by a model transformation, heterogeneous multi-agent systems are converted into equivalent error systems. Then we analyze the consensus problem of the multi-agent systems by analyzing the stability problem of the error systems. For a fixed topology, a sufficient condition for consensus of heterogeneous multi-agent systems is obtained based on algebraic graph theory and linear system theory. For a switching topology, a necessary and sufficient condition for mean-square consensus of multi-agent systems is obtained based on algebraic graph theory and Markovian jump system theory. Finally, we give some simulation examples.

Consensus of Heterogeneous Multi-Agent Systems with Intermittent Communication

AbstractThis paper studies consensus of a class of heterogeneous multi-agent systems composed of first-order and second-order agents with intermittent communication. For leaderless multi-agent systems, we propose a distributed consensus algorithm based on the intermittent information of neighboring agents. Some sufficient conditions are obtained to guarantee the consensus of heterogeneous multi-agent systems in terms of bilinear matrix inequalities (BMIs). Meanwhile, the relationship between communication duration and each control period is sought out. Moreover, the designed algorithm is extended to leader-following multi-agent systems without velocity measurements. Finally, the effectiveness of the main results is illustrated by numerical simulations.

Consensus for Heterogeneous Multi-Agent Systems with Directed Network Topologies

AbstractIn this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, this consensus problem is turned into a consensus problem for homogeneous multi-agent systems. With certain assumption on the control parameters, firstly, necessary and sufficient condition for consensus is proposed with fixed topology. Secondly, sufficient condition is proposed for heterogeneous multi-agent systems to achieve consensus with switching topologies. Finally, simulation examples are presented to verify the effectiveness of the theoretical results.

Output Consensus of Heterogeneous Multi-agent Systems under Directed Topologies via Dynamic Feedback

AbstractThis paper discusses the problem of dynamic output consensus for heterogeneous multi-agent systems (MAS) with fixed topologies. All the agents possess unique linear dynamics, and only the output information of each agent is delivered throughout the communication digraphs. A series of conditions and protocols are set for reaching the consensus. With the proper feedback controllers, the output consensus of the overall system is guaranteed. An application illustrates the theorems.

Output consensus for heterogeneous multiagent systems with Markovian switching network topologies

SummaryThis paper investigates the output consensus problem of heterogeneous continuous‐time multiagent systems under randomly switching communication topologies. The switching mechanism is governed by a time‐homogeneous Markov process, whose states correspond to all possible communication topologies among agents. A novel dynamic consensus controller is proposed. The controller gains are designed based on the information of the expectation graph and the solutions to regulator equations. Furthermore, a necessary and sufficient condition is presented for output consensus of the controlled multiagent system in mean square sense. Finally, a simulation example is provided to corroborate the effectiveness of the proposed controller.

Distributed consensus for discrete-time heterogeneous multi-agent systems

ABSTRACTThis paper studies the consensus problem for a class of discrete-time heterogeneous multi-agent systems. Two kinds of consensus algorithms will be considered. The heterogeneous multi-agent systems considered are converted into equivalent error systems by a model transformation. Then we analyse the consensus problem of the original systems by analysing the stability problem of the error systems. Some sufficient conditions for consensus of heterogeneous multi-agent systems are obtained by applying algebraic graph theory and matrix theory. Simulation examples are presented to show the usefulness of the results.

Consensus of Heterogeneous Multiagent Systems with Arbitrarily Bounded Communication Delay

This paper focuses on the consensus problem of high-order heterogeneous multiagent systems with arbitrarily bounded communication delays. Through the method of nonnegative matrices, we get a sufficient consensus condition for the systems with dynamically changing topology. The results of this paper show, even when there are arbitrarily bounded communication delays in the systems, all agents can reach a consensus no matter whether there are spanning trees for the corresponding communication graphs at any time.

Self-tuning proportional integral control for consensus in heterogeneous multi-agent systems

In this paper, we present a distributed Proportional-Integral (PI) strategy with self-tuning adaptive gains for reaching asymptotic consensus in networks of non-identical linear agents under constant disturbances. Alternative adaptive strategies are presented, based on global or local measures of the agents' disagreement. The proposed approaches are validated on a representative numerical example. Preliminary analytical results further confirm the viability of the self-tuning strategies.

Distributed adaptive consensus of heterogeneous multi-agent systems with unknown coupling weights

Distributed adaptive consensus of heterogeneous multi-agent systems with unknown coupling weights

Event‐triggered cooperative compensation control for consensus of heterogeneous multi‐agent systems

This paper addresses the event-triggered consensus for heterogeneous multi-agent systems (He-MASs) via a distributed cooperative compensation control (D3C) strategy. The proposed D3C law involves two dynamics: (i) a pre-given virtual leader, which specifies the synchronisation trajectory for whole He-MASs; (ii) two intermediate compensation system, whose system state is broadcasted to neighbour agents through communication network for facilitating the consensus. To further reduce data exchanging frequency so as to alleviate communication burden, an exponential event-trigger is employed to determine whether the current sampled data need to be broadcasted or suspended. By two concise algebraic Riccati inequalities and some supplement conditions, a sufficient collaborative design method is presented for obtaining the values of D3C gains and the thresholds of event-trigger, while the Zeno phenomena is also excluded. The proposed strategy guarantees the consensus of He-MASs and significantly reduces data exchanging amounts. Finally, some illustrative examples are given to validate effectiveness of the proposed results.

Optimal topology for consensus of heterogeneous multi-agent systems

Consensus can be achieved under various topologies for multi-agent systems. Then, which one is the optimal? In this paper, we consider the problem of optimal topology for consensus of heterogeneous multi-agent systems. We assume that the system consists of a leader and several followers with heterogeneous dynamics. Firstly, we define a quadratic cost function composed of consensus error and control effort for the heterogeneous multi-agent system. Secondly, by using linear-quadratic regulator theory and matrix theory, we prove that the optimal position topology and the optimal velocity topology are star graphs. Finally, simulations are carried out to illustrate the effectiveness of the theoretical results.

Second-order consensus for heterogeneous multi-agent systems in the cooperation–competition network: A hybrid adaptive and pinning control approach

In this paper, a second-order consensus problem is investigated for the heterogeneous agents in the cooperation–competition network, with the parameters of the agents’ dynamics being uncertain. By introducing an exosystem, a hybrid adaptive and pinning control strategy is firstly proposed to ensure that all the agents follow a desired trajectory which is a function of the exosystem state. Several effective sufficient conditions are obtained by applying algebraic graph theory and the Barbalat lemma. Besides, the switching topologies between the competition agents are also considered. With the help of the Barbalat-like lemma, it is found that second-order consensus problem of the heterogeneous agents can be solved even when the competition sub-network is dynamic. Finally, simulation results are presented to validate the effectiveness of the theoretical analysis.