Containment Control Of Multi-agent Systems Research Articles

Distributed Disturbance Observer-Based Containment Control of Multi-Agent Systems with Event-Triggered Communications

This article investigates a class of multi-agent systems (MASs) with known dynamics external disturbances, where the communication graph is directed, and the followers have undirected connections. To eliminate the impacts of external disturbance, the technologies of disturbance observer-based control are introduced into the containment control problems. Additionally, to save communication costs and energy consumption, a distributed disturbance observer-based event-triggered controller is employed to achieve containment control and reject disturbance. Furthermore, designing the event-triggered function using an exponential function is beneficial for a time-dependent term while ensuring the exclusion of Zeno behavior. Finally, a numerical simulation is provided to validate the effectiveness of the theoretical analysis.

Optimized Backstepping-Based Containment Control for Multiagent Systems With Deferred Constraints Using a Universal Nonlinear Transformation.

This article investigates an optimized containment control problem for multiagent systems (MASs), where all followers are subject to deferred full-state constraints. A universal nonlinear transformation is proposed for simultaneously handling the cases with and without constraints. Particularly, for the constrained case, initial values of states are flexibly managed to the midpoint between upper and lower boundaries by utilizing a state-shifting function, thus eliminating the initial restriction conditions. By deferred constraints, the state is forced to fall back into the restrictive boundaries within a preassigned time. A neural network (NN)-based reinforcement learning (RL) algorithm is executed under the identifier-critic-actor architecture, where the Hamilton-Jacobi-Bellman (HJB) equation is built in every subsystem to optimize control performance. For actor and critic NNs, updating laws are simplified, since the gradient descent method is performed based on a simple positive function rather than square of Bellman residual error. In view of the Lyapunov stability theorem and graph theory, it is proved that all signals are bounded and the outputs of followers can eventually enter into the convex hull constituted by leaders. Finally, simulations confirm the validity of the proposed approach.

Safety-Critical Containment Control for Multi-Agent Systems With Communication Delays

Safety-Critical Containment Control for Multi-Agent Systems With Communication Delays

Fuzzy observer based adjustable containment control for multi-agent systems against DoS attacks

Fuzzy observer based adjustable containment control for multi-agent systems against DoS attacks

Distributed formation containment control for multi-agent systems via dynamic event-triggering communication mechanism

This paper focuses on resolving the distributed formation containment control issue in general multi-agent systems (MASs) possessing multiple leader agents subject to limited communication resources. The unnecessary data transmissions among agents in MASs are reduced by utilizing a unique dynamic event-triggering communication mechanism (DETCM), which can build communication time sequences for each agent automatically. Based on the sampled states of agents at event-triggering instants, a novel distributed formation containment control protocol is proposed. By mathematical analysis, the formation containment control problem is turned into the problem of stability in a reduced-order system. The global formation containment of the MASs is finally achieved through the application of Lyapunov-Krasovskii functionals and general inequalities. Moreover, a valid example is also given to support the validity and effectiveness of the findings.

Resilient adaptive event-triggered containment control of nonlinear multi-agent system under concurrent DoS attacks and disturbances

This paper presents a secure containment control problem of nonlinear Multi-Agent Systems (MASs) under aperiodic Denial of Service (DoS) attacks and external disturbances simultaneously. A novel adaptive neural network (NN)-based event-triggered control is considered that uses the nonlinear estimator to predict the state of other agents. Since data access is denied during DoS attacks, the overall system switches between two modes of stable and unstable containment behaviours. Therefore, the maximum of attack duration and frequency is determined such that the overall system evolution leads to containment convergence in the presence of DoS attacks. We proposed an adaptive NN-based distributed disturbance observer to estimate external disturbances in a nonlinear system's dynamics. The state estimator predicts neighbouring agents' states, and each agent's input and event times are determined without monitoring other agents. The directed graph topology is used to determine data exchange among agents instead of an undirected graph that reduces implementation conditions. Zeno-free behaviour is also proved by analysis of the system. Eventually, the numerical simulation of the proposed approach is shown. Abbreviations: DoS attacks, Containment control of multi-agent system

Cooperative Containment Control for Multiagent Systems With Reduced-Order Protocols.

This article addresses the problem of containment control for continuous-time multiagent systems. A containment error is first given to show the coordination between the outputs of leaders and followers. Then, an observer is designed based on the neighbor observable convex hull state. Under the assumption that the designed reduced-order observer is subject to external disturbances, a reduced-order protocol is designed to realize the containment coordination. In order to ensure the designed control protocol can achieve the effect of the main theories, a corresponding Sylvester equation is given with a novel approach which proves that the Sylvester equation is solvable. Finally, a numerical example is given to verify the validity of the main results.

Boundary containment control of multi-agent systems with time-invariant and time-varying delays

This paper considers the multi-leader situation in multi-agent systems (MASs), providing a solution to the issue of containment control in MASs using a directed graph as the main focus of the investigation. Containment controllers are first designed for MASs respectively by using boundary measurement and distributed measurement, as well as considering time-invariant and time-varying delays. By making use of the Wirtinger inequality and the Lyapunov Krasovskii function, consensus criteria for containment consensus of the MASs are established. Finally, two numerical examples are given to verify the effectiveness of the proposed protocols.

Prescribed-Time Disturbance Observer-Based Fully Distributed Prescribed-Time Containment Control of Multiagent Systems

Prescribed-Time Disturbance Observer-Based Fully Distributed Prescribed-Time Containment Control of Multiagent Systems

Nonfragile robust [formula omitted] containment control for multi-agent systems with a time-varying delay

Under a fixed directed graph, this paper is concerned with the distributed nonfragile robust H∞ containment control of linear multi-agent systems with model uncertainty subject to admissible external disturbances in the presence of communication delay. Compared with the situation where the controller only considers either nonfragility or time delay, a class of controller considering both nonfragility and time-varying communication delay is put forth while guaranteeing a prescribed H∞ performance level, under which all of the followers’ states merge into the convex hull created by those of the leaders. Specially, the nonfragile term is constructed to eliminate the inaccuracy and perturbation in the designing of the controller gain, where the additional tuning of parameters in the real control systems always occurs. Then, a four-term Lyapunov–Krasovskii functional is employed and analyzed, and a feasible methodology is designed to properly select the controller and observer gains depending on matrix transformation and solving linear matrix inequality. Finally, two simulation examples are used to demonstrate the viability of the proposed techniques.

Constrained Containment Control for Multiagent Systems With Possible Empty Intersection of Position Constraints

Constrained Containment Control for Multiagent Systems With Possible Empty Intersection of Position Constraints

Fixed time containment control of multi-agent system under multi-source mismatched disturbance

Aiming at the cooperative control problem of multi-agent system, the fixed-time containment control of general second-order multi-agent system under mismatched disturbances is studied. Firstly, the problem of multi-agent system fixed-time containment control in ideal state is analyzed, and a distributed control protocol based on variable structure control is proposed. Then, a nonlinear fixed-time disturbance observer is designed, aiming at the mismatched disturbance, and a fixed-time control protocol based on the nonlinear disturbance observer is proposed. Finally, the effectiveness of the proposed control protocol under switching topology and multi-source disturbance is verified by numerical simulation.

Practical robust fixed-time containment control for multi-agent systems under actuator faults

This article considers a containment control problem for nonlinear multi-agent systems with nonautonomous leaders under directed topology, where each follower may experience various actuator faults and unknown external disturbances. A practical robust fixed-time fault-tolerant controller is proposed that eliminates the adverse effects of disturbances and actuator faults while achieving the containment control objective within a fixed-time. Independent of initial states, a sufficient condition of practical robust fixed-time stabilization is derived, further relaxing the constraint of robust fixed-time stabilization. The combination of sliding-mode control and event-triggered mechanism in this approach provides better control performance. One advantage of this method is that the sliding-mode band size is no longer dependent on the sampling interval but rather on the triggering function. Another advantage is that the resource costs for handling faults are effectively reduced. Additionally, an adaptive boundary layer technique is designed to avoid chattering phenomenon of the discontinuous controller, which utilizes adaptive parameters to autonomously adjust the width of boundary layer. Zeno behavior analysis and a simulated example are also presented.

A Backstepping-Based Approach for Distributed Output Containment Control of High Order Multi-Agent Systems with Applications in Power Systems

This paper deals with the problem of output containment control of multi-agent systems. A backstepping-based approach is used to design a novel distributed controller that allows fast output containment of high order multi-agent systems. The proposed method ensures exponential convergence of the output containment error to zero despite external disturbances. A numerical example is provided to highlight the efficiency of the proposed approach. Applications of the proposed control approach in power systems are also presented.

Explicit Performance Containment Control for Multi-Agent Systems With Leaders Bounded Unknown Input by Hybrid Time-Event Triggered Mechanism

Explicit Performance Containment Control for Multi-Agent Systems With Leaders Bounded Unknown Input by Hybrid Time-Event Triggered Mechanism

Resilient Event-triggered Containment Control of Multi-Agent Systems under Asynchronous DoS Attacks and Disturbances

Resilient Event-triggered Containment Control of Multi-Agent Systems under Asynchronous DoS Attacks and Disturbances

Hybrid-Triggered Output Feedback Containment Control for Multi-Agent Systems With Missing Measurements

Hybrid-Triggered Output Feedback Containment Control for Multi-Agent Systems With Missing Measurements

Fixed-time containment control for nonlinear multi-agent systems via dynamic event-triggered mechanism over directed graphs

This paper focus on a dynamic event-triggered mechanism to solve fixed-time containment control problems for nonlinear multi-agent systems (MASs) with uncertain disturbances over directed graphs. An event-triggered algorithm based on dynamic variables is proposed to achieve the fixed-time containment control of MASs, which can effectively reduce the number of event-triggered instants. By modifying the auxiliary variables and reconstructing the dynamic variables, the effect of input time-delays in MASs is successfully eliminated. It is noteworthy that only the auxiliary variables are modified while the structure of the dynamic variables is not changed, which further indicates that the designed dynamic event-triggered algorithm is also suitable for solving multi-agent systems with input time-delays. In addition, the setting time associated with the time-delays is also computed and the Zeno behavior is successfully avoided by computing the minimum time interval between event triggering as non-negative. Finally, simulation results are given to verify the effectiveness of proposed control protocol.

Fully Distributed, Event-Triggered Containment Control of Multi-Agent Systems Based on Wireless Sensor Networks and Time Base Generators

In this study, wireless sensor networks and time base generators are used to solve the fixed-time containment control problem in multi-agent systems with fixed topologies. A new event-triggered control protocol is proposed, which combines a fully distributed method and a time base generator (TBG). The goal is to converge the states of all followers to the convex hull formed by the leader. The controller reduces communication and improves control efficiency by integrating a fully distributed control mechanism using wireless sensor networks. In addition, a time base generator (TBG) is added to ensure that the dwell time continues to be pre-specified and independent of initial conditions. Using matrix theory, the original system is transformed into an error system, and its stability is analyzed by the Lyapunov method. The necessary and sufficient conditions for solving the time consensus containment control problem in multi-agent systems are determined and Zeno behavior is avoided. The effectiveness of the proposed control algorithm is illustrated by numerical examples.

Team-based fixed-time containment control for multi-agent systems with disturbances

We investigate the fixed-time containment control (FCC) problem of multi-agent systems (MASs) under discontinuous communication. A saturation function is used in the controller to achieve the containment control in MASs. One difference from using a symbolic function is that it avoids the differential calculation process for discontinuous functions, which further ensures the continuity of the control input. Considering the discontinuous communication, a dynamic variable is constructed, which is always non-negative between any two communications of the agent. Based on the designed variable, the dynamic event-triggered algorithm is proposed to achieve FCC, which can effectively reduce controller updating. In addition, we further design a new event-triggered algorithm to achieve FCC, called the team-trigger mechanism, which combines the self-triggering technique with the proposed dynamic event trigger mechanism. It has faster convergence than the proposed dynamic event triggering technique and achieves the tradeoff between communication cost, convergence time and number of triggers in MASs. Finally, Zeno behavior is excluded and the validity of the proposed theory is confirmed by simulation.