Containment Of Multi-agent Systems Research Articles

Adaptive Event-Triggered Time-Varying Output Bipartite Formation Containment of Multiagent Systems Under Directed Graphs.

The time-varying output bipartite formation containment (TVOBFC) problem for linear multiagent systems (MASs) under directed graphs is an important problem. However, the methods in existing works rely on the global information of the MASs or do not use event-triggered communication. This article investigates two kinds of TVOBFC problems for heterogeneous linear MASs under signed digraphs by event-triggered communication. For the first case where leaders have the same dynamics, the innovative fully distributed event-triggered protocol for the follower is proposed. In this case, the followers form the preset formation shape. For the second case where leaders have different dynamics, the leaders are divided into two groups. One group can directly obtain the output information of the virtual leader, while the other group cannot. In order to make leaders achieve the formation shape and track the virtual leader, two kinds of innovative observers are designed for two kinds of leaders to estimate the state of the virtual leader, and the control protocol is designed for each leader based on the designed observers. Then, the control law for each follower is designed to solve the formation containment problem. Finally, two examples are introduced to illustrate the main results.

Resilient state containment of multi-agent systems against composite attacks via output feedback: A sampled-based event-triggered hierarchical approach

In this paper, we investigate the distributed resilient output-feedback containment problem of linear multi-agent systems (MASs) with a dynamic Luenberger observer under composite attacks, including denial of service (DoS) attacks, false-data injection (FDI) attacks, camouflage attacks (CAs), and actuation attacks (AAs). By using the digital twin framework, a twin layer (TL) is introduced for the cyber-physical layer (CPL), which decomposes the problem of the composite attack into a DoS attack on the TL and an unknown AAs on the CPL for analysis and countermeasures. A sampled-based event-triggered control protocol is employed to save the communication resources of MASs. To achieve the goal of containment control under the DoS attack, a backup topology is employed to repair the communication channels that have been compromised by the DoS attacks. Then, a new adaptive controller is proposed to synchronize the MASs with a polluted communication network caused by unbounded AAs. This controller can eliminate the chattering phenomenon of the system and enable the containment error among the agents to reach a uniformly ultimately bounded (UUB) convergence. Finally, the practicality and effectiveness of the theoretical results are verified through simulations.

Bipartite fixed-time output containment control of heterogeneous linear multi-agent systems

<abstract><p>This study researches the bipartite fixed-time output containment control problem of heterogeneous linear MASs with signed digraphs. The leaders' states can be estimated by a designed distributed bipartite compensator. Furthermore, each follower is allocated a time-varying coupling weight, an adaptive bipartite fixed-time protocol is raised which can estimate the leader's system matrix but also the leader's state. On the foundation of control protocols, followers' outputs are included by the convex hull constituted by leaders' outputs. In addition, by utilizing the Lyapunov function theory, some abundant speculative knowledges are deduced to guarantee adaptive bipartite fixed-time output containment of multi-agent systems. Finally, the feasibility of the anticipant theoretical results is verified by a set of simulation examples.</p></abstract>

Distributed adaptive containment control for a class of discrete-time nonlinear multi-agent systems with unknown parameters and control gains

This paper considers the containment control problem for the discrete-time nonlinear multi-agent systems with unknown parameters and completely unknown control gains. In this paper, the dynamics of each agent are nonlinearly coupled with the neighbors’ states. To deal with the unknown parameters and control gains, a projection-type estimation algorithm is designed with the singular value avoided in the estimated control gains. The bounded estimation errors of parameters and control gains are guaranteed by the convergence analysis based on the Lyapunov approach. Then, using the estimated parameters and control gains, a distributed adaptive control protocol with only local information is designed for multi-agent systems. Under the proposed control protocol, the containment of multi-agent systems is guaranteed from a novel viewpoint of the absorbing Markov chain. Furthermore, simulations are carried out to illustrate the effectiveness of the proposed containment control protocol.

Fixed-Time Bipartite Containment of Multi-Agent Systems Subject to Disturbance

This paper studies the bipartite containment of multi-agent systems (MASs) subject to the bounded disturbance. Different from the subsistent related works on this topic, the settling time irrespective of initial value can be calculated in advance. Two distributed control algorithms are provided correspondingly for the first-order systems and second-order systems. Based on algebraic theory, properties of the Laplacian matrix and fixed-time stability theory, it shows that fixed-time bipartite containment can be achieved via the presented control law. Simulations are eventually employed to prove the correctness and effectiveness of theoretical results.

Formation–containment control for networked Euler–Lagrange systems with input saturation

This paper studies the formation–containment control problem for networked nonlinear Euler–Lagrange systems with input saturation. To realize the concurrency of leaders’ formation and followers’ containment, coordinated formation and containment control algorithms are designed, respectively, such that the formation–containment of multi-agent systems can be reached. Firstly, to handle the constraint of input saturation, a dynamic auxiliary system is introduced for each agent to obtain some auxiliary variables. Then, based on these auxiliary variables, coordinated saturated formation and containment control algorithms are designed for each leader and follower to achieve formation and containment, respectively. Note that the saturation bound of each agent in many proposed coordinated saturated control algorithms depends on the number of each agent’s neighbors, while the formation–containment system is usually large scale and each agent has many neighbors because there are multiple leaders and followers. Our proposed saturated formation–containment control algorithm has the advantage that the saturation bound of each agent is not related with the number of each agent’s neighbors. Finally, numerical simulation is given to illustrate the effectiveness of the theoretical results.