Consensus Of Multi-agent Systems Research Articles

Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

Guaranteed-performance consensus for multi-agent systems with Lipschitz nonlinearity

This paper mainly addresses the guaranteed-performance consensus problem of multi-agent systems (MASs), under the energy constraints and Lipschitz nonlinear dynamics. First, to reach consensus under energy constraints, the consensus protocol and the quadratic performance function are proposed. Afterward, by using the properties of nonsingular transformation matrix and Lipschitz’s nonlinear representation, the consensus function conditions are expressed. Moreover, considering the guaranteed-performance cost, this paper designs the quadratic performance function derived from the Riccati inequality and Lyapunov–Krasovskii theorem. Eventually, numerical simulations are implemented to validate the theoretical results.

Observer-Based Output Consensus of Multi-agent Systems with Input Delay Based on Model Predictive Control

Observer-Based Output Consensus of Multi-agent Systems with Input Delay Based on Model Predictive Control

Scalable and Constrained Consensus in Multiagent Systems: Distributed Model Predictive Control-Based Approaches

Scalable and Constrained Consensus in Multiagent Systems: Distributed Model Predictive Control-Based Approaches

Behaviors of matrix-weighted networks with antagonistic interactions

This essay considers the bipartite consensus of matrix-weighted second-order multi-agent systems with structurally unbalanced antagonistic interactions networks. Owing to the influence of matrix-weights, bipartite consensus and cluster bipartite consensus can also be reached, which is different from the existing works on signed networks. With the assistance of Lyapunov stability and matrix-valued Gauge transformation, a condition to achieve bipartite consensus is established. Moreover, a relatively straightforward algebraic graph condition for reaching cluster bipartite consensus is attained. Finally, simulation examples are supplied to illustrate the obtained results.

Stubborn Observer for Leader-Following Consensus of Nonlinear Multiagent Systems With Application to Spacecraft.

In this article, the leader-following consensus problem is investigated for a class of nonlinear multiagent systems with transmission outliers. First, through the relative output information and observer states of neighbor agents, a distributed stubborn reduced-order observer is proposed to estimate the leader-following consensus error which is affected by abnormal and isolated transmission outliers. Moreover, considering that the leader agent in practice is a controllable plant, another distributed stubborn reduced-order observer is designed by using the relative information and inputs of neighbor agents. Sufficient conditions are established in terms of the Laplacian matrix such that two stubborn reduced-order observers are convergent and the studied nonlinear multiagent system could achieve leader-following consensus with directed topology. Finally, an example of the multispacecraft system is provided to illustrate the effectiveness of the proposed methodology.

Distributed Adaptive Forwarding Finite-Time Output Consensus of High-Order Multiagent Systems via Immersion and Invariance-Based Approximator.

A finite-time output consensus control problem is investigated in this article for an uncertain nonlinear high-order multiagent systems (MASs). For this class of MASs, the order of individual follower is reduced gradually by implementing the immersion and invariance (I&I) control theory repeatedly, and a requirement of solving partial differential equations (PDEs) in I&I control theory is obviated. Furthermore, an I&I-based radial basis function neural network (RBFNN) approximator is developed, where an extra cross term is added in the approximation mechanism, and the form of an update law for weights is transformed into a proportional and integral one. This I&I-based RBFNN approximator does not rely on a cancellation of the perturbation term, and these uncertainties are reconstructed by the I&I manifold adaptively, which is for improvement of approximation behaviors of traditional RBFNNs. On this basis, a distributed adaptive forwarding finite-time output consensus control strategy is proposed by combining a sign function, and the convergence time of the MAS can be adjusted with appropriate finite-time parameters. Finally, two illustrative examples verify the effectiveness of the theoretical claims.

Differentially Private Consensus for Second-Order Multiagent Systems With Quantized Communication.

This article considers the differentially private consensus problem of discrete-time second-order multiagent systems with partially measurable states and limited communication channel capacity, where only the integer-value information of agents can be transmitted. To reduce the potential risk of state information disclosure in digital communication, a differentially private consensus algorithm via dynamic encoding-decoding is proposed for the second-order multiagent system to make agents achieve mean-square consensus by transmitting quantized integer values with privacy protection. To deal with the uncertainty of the quantizer saturation, the statistical analysis is given for the boundedness of the input of quantizers. It is shown that the expectation of the minimum memory capacity of quantizers is 2 bits. Finally, some simulation results are given to visualize our conclusions.

A Continuous Neural Network Adaptive Controller for Consensus of Uncertain Multi-Agent Systems

A Continuous Neural Network Adaptive Controller for Consensus of Uncertain Multi-Agent Systems

Event-Triggered Control of Lag Consensus for Leader-Following Multi-agent Systems with Nonlinear Dynamics

Event-Triggered Control of Lag Consensus for Leader-Following Multi-agent Systems with Nonlinear Dynamics

Consensus of Input Constrained Multi-Agent Systems by Dynamic Time-Varying Event-Triggered Strategy With a Designable Minimal Inter-Event Time

Consensus of Input Constrained Multi-Agent Systems by Dynamic Time-Varying Event-Triggered Strategy With a Designable Minimal Inter-Event Time

H∞ Output Anti-Windup Consensus for Constrained Nonlinear Heterogenous Multiagent Systems Based on Reduced Order Interval Observer

H_∞ Output Anti-Windup Consensus for Constrained Nonlinear Heterogenous Multiagent Systems Based on Reduced Order Interval Observer

Output Feedback-Based Consensus for Nonlinear Multiagent Systems: The Event-Triggered Communication Strategy.

The current investigation explores the leader-following consensus problem for nonlinear multiagent systems under the output feedback control mechanism and the event-triggered communication mechanism. Owing to the physical instrument constraints, a significant portion of the state variables is not readily available. Therefore, this article put forward a distributed event-based leader-following consensus protocol only using agents' relative output measurements and underlying neighbors. Furthermore, this article develops two event-triggered mechanisms simultaneously, one is the event-triggered communication mechanism in the sensor-to-controller channel, and another is the event-triggered controller update in the controller-to-actuator track. Besides that, it is proven that the developed event-triggered control protocol can settle the leader-following consensus problem of the nonlinear multiagent systems, and the Zeno behavior is excluded in both the channels. Finally, we perform two simulation examples to illustrate the efficacy of the obtained results.

Event-Based H ∞ Consensus of Double-Integrator Multi-Agent Systems: A Prescribed Performance Control Approach

Event-Based <i>H</i> _∞ Consensus of Double-Integrator Multi-Agent Systems: A Prescribed Performance Control Approach

Boundary Control Strategies for Consensus of Fractional-Order Multi-Agent Systems Based on Coupling PDE-ODEs

Boundary Control Strategies for Consensus of Fractional-Order Multi-Agent Systems Based on Coupling PDE-ODEs

Distributed Control for Nonlinear Time-Delay Multiagent Systems: Hybrid Saturation-Constraint Impulsive Approach.

This article mainly studies the problem of impulse consensus of multiagent systems under communication constraints and time delay. Considering the limited communication bandwidth of the agent, global and partial saturation constraints are considered. In addition, so as to further improve communication efficiency by reducing communication frequency, the novel control protocol combining event-triggered strategy and general impulse control protocol is proposed. Under this kind of novel control protocol, the communication frequency of multiagent systems can be reduced while avoiding "Zeno behavior." Through theoretical analysis, sufficient conditions for the systems to achieve consensus are obtained for the above two saturation constraint cases. In the end, the effectiveness of the novel protocols is proved by providing two different simulation instances.

Resilient Consensus of Multiagent Systems Under Collusive Attacks on Communication Links.

This article addresses the resilient consensus problem of multiagent systems subject to cyber attacks on communication links, where the attacks on different links may collude to maintain undetectable. For the case with noncollusive attacks on links, a distributed fixed-time observer is designed so that the attack on each link can be detected by the two associated agents. A necessary and sufficient condition is derived to ensure the isolation of attacked links and no mistaken isolation of normal ones. For the case with collusive attacks on links, a novel attack isolation algorithm is proposed by constructing extra observers on the basis of the previous designed distributed fixed-time observer via sequentially removing the information associated with one of the links. Based on the isolation of the attacked links, a control algorithm is designed, and a necessary and sufficient condition is provided to achieve resilient consensus. Numerical examples corroborate the effectiveness of the proposed strategies.

Prescribed time partial component lag consensus of multi-agent systems with switching topologies and external bounded disturbances

This paper investigates the problem of prescribed time partial component lag consensus (PTPCLC) and the problem of prescribed time partial component consensus (PTPCC) for nonlinear multi-agent systems (MASs) with switching topologies and external bounded disturbances. Some novel control protocols are designed by introducing a new time-varying function which depends on the prescribed settling time. Then, making full use of the permutation matrix, the original error system about the same agent is transformed into the new error system about the same component. Furthermore, the control parameters are designed according to the minimum eigenvalue of the Laplacian matrix and minimum non-zero values of the inner coupling matrix of the MASs to guarantee that the MASs can achieve PTPCLC and PTPCC, respectively. Finally, some simulation examples are given to verify the correctness of theoretical results.

Data-based adaptive predictive bipartite consensus for nonlinear multiagent systems against DoS attacks

This article investigates a Denial-of-Service (DoS) attack problem for nonlinear unknown discrete-time multiagent systems (MASs) to implement bipartite consensus tracking tasks with fixed and switching topologies. Firstly, an equivalent linearization data model of each agent is constructed using a pseudo partial derivative approach, where only one parameter needs to be estimated using input/output data of the controlled MASs. Meanwhile, the DoS attack behavior is described by a Bernoulli distribution process, and both cooperative and competitive relationships among agents are investigated. Moreover, an increment prediction compensator is designed to reduce the effect of DoS attacks. A data-based adaptive predictive bipartite consensus control algorithm is formulated. The corresponding theoretical analysis indicates that tracking errors of MASs with fixed and switching topologies converge to a small range around zero. Finally, several simulations and hardware tests further verify the proposed scheme’s effectiveness.

Fixed-time leader–follower consensus for second-order multi-agent systems: Variable exponent sliding mode control approach

This paper investigates the fixed-time leader–follower consensus (LFC) problem of second-order multi-agent systems (MASs) with bounded disturbance under directed interaction topology. First, a sliding mode manifold (SMM) with consensus errors–dependent variable exponential coefficient is given. Then, two sliding mode control (SMC) protocols are proposed. The proposed control protocols can eliminate the singularity, while guaranteeing the fixed-time reachability of the consensus errors to the sliding mode surface (SMS) and the fixed-time convergence of the consensus errors toward the origin along the SMS. Finally, the validity of the obtained methodology is confirmed by two simulation examples.