Consensus Of Multi-agent Systems Research Articles

Dynamic event-triggered mean-square consensus of positive multi-agent systems via impulsive control under false data injection attacks

This paper investigates the mean-square impulsive consensus problem of positive multi-agent systems (MASs) under stochastic sensor false data injection attacks (FDIA). False data injection attacks are mortal to a positive system since the system positivity could be destroyed with ease (by tampering with the sampled positive state value to a negative one, for instance). To deal with this issue, a data compensator is proposed which preprocesses deliberately distorted state values to reduce their adverse impacts on the positivity of the positive MASs. On the other hand, a novel sampled-data-based dynamic event-triggered mechanism (SDB-DETM) is tailored to generate impulsive control time sequences, save control costs, and promise a desired control performance. A maximum event-trigger time interval is introduced as a substitute for the assumption of the average time interval when considering the randomness of FDIA. Furthermore, the dynamics of the auxiliary dynamic variable are improved to adapt the novel SDB-DETM with mixed signals. A sufficient and necessary condition of the positivity of the positive MASs under FDIA is presented. The commonly used positive constraints on the error system are removed. By constructing a quadratic Lyapunov function, a sufficient condition of the mean-square consensus of the positive MASs is derived. Two numerical examples are provided to illustrate the effectiveness of theoretical results.

Secure output consensus for multi-agent systems under edge-based event-trigger against denial-of-service

This paper is concerned with the secure output consensus problem for the heterogeneous multi-agent systems under the event-triggered scheme in the presence of the denial-of-service attack. Without detecting the attack, the hold-input controller update strategy is adopted when some transmission data may be lost due to the effect of the attack. Based on the tolerable duration of the attack, a novel edge-based event-triggered scheme is developed. The scheme can avoid continuous communication and exclude Zeno behavior. With the aid of the switched system theory, output consensus is preserved. An example shows the effectiveness.

Secure consensus for multiagent systems with hybrid cyber attacks: A multi-round-robin protocol-based approach

This article addresses secure consensus of discrete multiagent systems (DMASs) with information exchange under Multi-Round Robin Protocol (MRRP). Since the information exchange among agents is via the constrained networked transmission channel, it implies that the communication resources should be fully utilized. To overcome this issue, MRRP is employed to adjust the data packet transmissions and conserve the limited network resources. Considering that the transmitted signals may be tampered by malicious attacks during transmission process, an new control strategy is presented taking the negative effects of the deception and injection attacks into account. Based on the augmented system model, a sufficient condition is attained. Moreover, the distributed controller gain is obtained such that the DMASs reach consensus with definite bound in mean-square sense. One simulation example is exploited to demonstrate the validity of the acquired consensus control strategy.

Novel distributed event/self-triggered sliding-mode control: Application to practical fixed-time consensus of second-order multi-agent systems

This paper presents a novel terminal sliding-mode control (SMC) protocol to accomplish the practical fixed-time (PFXT) consensus of second-order multi-agent systems (MASs) through event-triggered scheme (ETS). The main challenge is the digitization of SMC which prevents the controlled system from reaching an ideal sliding phase and the singularity problem in terminal sliding-mode controllers. Firstly, a novel method of PFXT stability is proposed, which guarantees the non-singularity for the controller. Secondly, based on the proposed PFXT control method, a practical non-singular terminal SMC strategy is designed to accomplish the PFXT consensus of MASs through ETS. Besides, a strictly positive minimal triggering interval of each follower is given to exclude the Zeno phenomenon. Different with conventional terminal SMC, maintaining the sliding trajectory constrained on the sliding manifold is not a premise to guarantee the system stability. Then, to eliminate the requirement of continuous monitoring for ETS, the SMC strategy is generalized to the self-triggered approach. At last, a numerical example is presented to validate the developed methods.

Asynchronous impulsive consensus of discrete-time nonlinear multi-agent systems with time-varying delays

This paper addresses the asynchronous impulsive consensus of discrete-time nonlinear multi-agent systems with time-varying delays. Moreover, leader-following relationship is considered for the presented multi-agent systems, in which cooperation and competition exist simultaneously. By using the linear matrix inequality (LMI) method and the stability theory for delayed discrete-time impulsive systems, a set of sufficient conditions for consensus are obtained to realize asynchronous exponential impulsive consensus with controllers acting at different time sequences for different agents. Mainly formulated by the topology matrices, impulsive intervals, and gain coefficients, these criteria are easily implemented and have lower energy consumption compared with traditional impulsive control methods. Finally, several numerical simulations are shown to display the effectiveness of the derived theoretical results.

Asynchronous Event-Triggered Passive Consensus of Semi-Markov Jump Multiagent Systems With Two-Time-Scale Feature Under DoS Attacks

Asynchronous Event-Triggered Passive Consensus of Semi-Markov Jump Multiagent Systems With Two-Time-Scale Feature Under DoS Attacks

PD and PI Control for the Lag Consensus of Nonlinear Multiagent Systems With and Without External Disturbances.

In this article, we investigate the lag consensus and lag H∞ consensus problems for second-order nonlinear multiagent systems (MASs) by utilizing the proportional-derivative (PD) and proportional-integral (PI) control methods. On the one hand, a criterion is developed for ensuring the lag consensus of the MAS by choosing an appropriate PD control protocol. Moreover, a PI controller is also provided to guarantee that the MAS can achieve lag consensus. On the other hand, several lag H∞ consensus criteria are also given for the case in which external disturbances appear in the MAS; these criteria are developed by exploiting the PD and PI control strategies. Finally, the devised control schemes and the developed criteria are verified by employing two numerical examples.

Leader-Following Consensus for Incremental Quadratic Constrained Nonlinear Multiagent Systems With Actuator Saturation

Leader-Following Consensus for Incremental Quadratic Constrained Nonlinear Multiagent Systems With Actuator Saturation

Output Consensus of Heterogeneous Multiagent Systems With Mismatched Uncertainties and Measurement Noises: An ADRC Approach

Output Consensus of Heterogeneous Multiagent Systems With Mismatched Uncertainties and Measurement Noises: An ADRC Approach

PI-Observer-Based Consensus of Nonlinear Multiagent Systems via Reduced-Order Edge State Dynamics and Decentralized Procedure

PI-Observer-Based Consensus of Nonlinear Multiagent Systems via Reduced-Order Edge State Dynamics and Decentralized Procedure

Event-Triggered Consensus of Uncertain Euler-Lagrange Multiagent Systems Over Jointly Connected Digraphs.

In this article, a fully distributed event-triggered protocol is proposed to solve the consensus problem of uncertain Euler-Lagrange (EL) multiagent systems (MASs) under jointly connected digraphs. First, distributed event-based reference generators are proposed to generate continuously differentiable reference signals via event-based communication under jointly connected digraphs. Unlike some existing works, only the states of agents rather than virtual internal reference variables need to be transmitted among agents. Second, adaptive controllers are exploited based on the reference generators so that each agent can track the reference signals. The uncertain parameters converge to their real values under an initially exciting (IE) assumption. It is proved that the uncertain EL MAS achieves state consensus asymptotically under the proposed event-triggered protocol composed of the reference generators and the adaptive controllers. A unique feature of the proposed event-triggered protocol is its fully distributed property: the protocol does not depend on global information about the jointly connected digraphs. Meanwhile, a minimum interevent time (MIET) is guaranteed. Finally, two simulations are conducted to show the validity of the proposed protocol.

Completely Distributed Secure Consensus for Multiagent Systems With a General Directed Graph Under Interaction Link Attacks

Completely Distributed Secure Consensus for Multiagent Systems With a General Directed Graph Under Interaction Link Attacks

Secure Sampled-Data Consensus of Multi-Agent Systems Under Asynchronous Deception Attacks With Application to Unmanned Surface Vehicles

Secure Sampled-Data Consensus of Multi-Agent Systems Under Asynchronous Deception Attacks With Application to Unmanned Surface Vehicles

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

Differentially Private Average Consensus for Networks With Positive Agents.

This research paper addresses the problem of achieving differentially private average consensus for multiagent systems (MASs) consisting of positive agents. A novel randomized mechanism is introduced that employs nondecaying positive multiplicative truncated Gaussian noises to maintain the positivity and randomness of the state information over time. A time-varying controller is developed to achieve mean-square positive average consensus, and convergence accuracy is evaluated. The proposed mechanism is shown to preserve (ϵ,δ) -differential privacy of MASs, and the privacy budget is derived. Numerical examples are provided to illustrate the effectiveness of the proposed controller and privacy mechanism.

Scaled consensus of heterogeneous multi-agent systems under asynchronous DoS attacks

This paper addresses the issue of scaled consensus in heterogeneous multi-agent systems (HMASs) under asynchronous Denial-of-Service (DoS) attacks. In the system structure, our exploration centers on the challenge of achieving scaled consensus in HMASs. The aim is to guarantee that the states of both first-order and second-order agents within the system reach predetermined scalar values, aligning with diverse real-world scenarios. Subsequently, the security of the system in directed communication topology under asynchronous DoS attack is also taken into account. To achieve above research objectives, an impulsive control scheme based on topology switching is proposed and a corresponding algorithm for determining the pulse moments based on the Floyd algorithm is devised. This scheme utilizes the topology switching caused by asynchronous DoS attacks as the driving force for impulsive control. Furthermore, leveraging the correlation property of random matrices, we derive the sufficient conditions for the system to achieve secure control. Finally, a numerical simulation is provided to validate the effectiveness of the protocol and the accuracy of conclusions.

Bipartite finite-time consensus of multi-agent systems with intermittent communication via event-triggered impulsive control

This paper concentrates on the bipartite finite-time consensus (BFTC) problem of nonlinear multi-agent systems (MASs) under intermittent communication via event-triggered impulsive control. First, a finite-time consensus (FTC) protocol with an event-triggered mechanism is developed for the MASs with nonlinear dynamics to save limited resources. Then, an impulsive control scheme is introduced to the designed algorithm to further improve the control performance. Based on the structurally balanced graph theory, both antagonistic and cooperative interactions are discussed in this article. Regarding whether the MASs have encountered intermittent communication, sufficient conditions are provided for achieving consensus of the MASs by using the Lyapunov theory and inductive methods. Moreover, the Zeno behavior is excluded. Finally, numerical simulations are given to validate the effectiveness of the algorithm. The result shows that the designed event-triggered BFTC control protocol with an impulsive strategy has a faster convergence rate than that without an impulsive strategy.

Event-triggered consensus of discrete-time double-integrator multi-agent systems with asymmetric input saturation

Event-triggered consensus of discrete-time double-integrator multi-agent systems with asymmetric input saturation

A Hybrid Systems Approach to Consensus of Nonlinear Multi-agent Systems With Self-triggered Output Feedback Control

A Hybrid Systems Approach to Consensus of Nonlinear Multi-agent Systems With Self-triggered Output Feedback Control

Adaptive impulsive consensus of nonlinear multi-agent systems via a distributed self-triggered strategy

This article investigates the consensus problem of nonlinear leader-following multi-agent systems (MASs) via adaptive impulsive control. A distributed impulsive controller is employed, in which an adaptive updating law in the discrete-time setting is designed for the impulsive gain. Moreover, in order to reduce the communication cost, a distributed self-triggered strategy is proposed to determine when the impulsive instant occurs. Some criteria are derived to guarantee consensus of leader-following MASs based on Lyapunov stability theory and algebraic Riccati equation. It is proved that the self-triggered impulsive sequence does not exhibit Zeno behaviour. Finally, an illustrative example is presented to empirically validate the effectiveness of the theoretical results.