Control Of Heterogeneous Multi-agent Systems Research Articles

Event-triggered consensus control of heterogeneous multi-agent systems: model- and data-based approaches

Event-triggered consensus control of heterogeneous multi-agent systems: model- and data-based approaches

Adaptive bipartite output containment control of heterogeneous multi-agent systems with leaders bounded unknown inputs

This paper researches the adaptive bipartite output containment problem, for a signed graph of heterogeneous multi-agent systems (HMASs). The dynamics of leaders are subject to unknown but bounded inputs, which cannot be measured by followers. Therefore, an containment control protocol based on distributed observer is proposed. An adaptive state and an output feedback algorithm are designed to ensure that cooperative and antagonistic agents enter different convex hull. Then, based on the output regulation approach, Lyapunov stability analysis and some other methods, the bipartite output containment control is realized. Finally, we validate the analytical results by numerical simulations.

Distributed tracking control for heterogeneous multi-agent systems via data-driven parameterisation approach

The distributed tracking control problem for heterogeneous multi-agent systems with unknown system dynamics is investigated. The objective is to provide a data-driven distributed tracking control protocol that ensures tracking performance between agents and the leader. To this end, the concept of data informativity for matching conditions is introduced. Then, the data-based sufficient and necessary conditions to achieve state tracking are provided. Meanwhile, a data-driven parameterisation approach for designing the distributed tracking control protocol is given. Compared with previous results, the reference input is considered in the leader's dynamics, and the computational burden is reduced by solving a set of data-based equations and inequality constraints rather than iteration. Additionally, the developed results are still appropriate for handling the tracking control issue of the single linear system, and the current constraint that the reference system be stable is eased. Finally, two simulation examples are given to verify the proposed schemes' effectiveness.

Adaptive fuzzy formation control for heterogeneous multi-agent systems using time-varying IBLFs

Adaptive fuzzy formation control for heterogeneous multi-agent systems using time-varying IBLFs

Distributed fault-tolerant control for heterogeneous multiagent systems and application in wireless power transfer grid

This paper investigates the incipient fault-tolerant problem of heterogeneous multiagent systems and applies the proposed method to the wireless power transfer grid. Firstly, a novel extended state observer is designed for every follower system, which not only relative output information of its agent but also contains output information of neighboring agents. Then, a state estimation feedback control scheme is proposed to compensate for the time delay and incipient faults effectively. It is worth noting that the proposed observer-based control strategy distributes the weight of the output information error. Therefore, the observer has higher adjustability and more substantial applicability. Further, we make a consistent analysis of the system under the proposed control scheme with the Lyapunov–Krasovskii theory that the sufficient conditions can be formed for the stability of the system. Finally, the validity of the proposed control scheme is demonstrated through numerical and application examples.

Intermittent output tracking control of heterogeneous multi-agent systems over wide-area clustered communication networks

In this paper, an output tracking problem is investigated for a wide-area heterogeneous multi-agent system with multiple leaders through intermittent communication, where the communication network consists of clustered subnetworks distributed in a wide area. Firstly, a hierarchical clustered network model is built to describe the communication network topology of heterogeneous agents communicated by an intermittent communication mechanism. Subsequently, dynamic compensators are designed for the heterogeneous agents to estimate the leaders’ state information and a dynamic state feedback hybrid control strategy is designed for each agent to ensure the output tracking consensus. Furthermore, the proposed hybrid control strategy is extended to a case where the complete state information of the agent itself is also not available. Then, under the proposed hybrid control strategy, the closed-loop tracking error system is modeled by a switched system. Consequently, sufficient conditions are derived for the stability of the closed-loop tracking error system under the proposed hybrid control strategy by using a piecewise Lyapunov function and convex synthesis methods. Finally, two numerical examples are provided to demonstrate the effectiveness of the proposed hybrid control strategy.

Self-triggered Bipartite Formation-Containment Control for Heterogeneous Multi-agent Systems with Disturbances

The design of the bipartite formation containment tracking for heterogeneous multi-agent systems is discussed in the present paper. The external disturbances are considered in the agent dynamic systems and the all state vectors are inaccessible. Therefore, unknown input observers are constructed for the followers to obtain the state and the disturbance estimates using an interval observer. Then to achieve the formation containment control, an event-triggered compensator state system is constructed for each follower using information from its neighbours to obtain the estimation of the convex hull formed by the output vectors of the leaders where Zeno behaviour is also excluded. Finally, a self-triggered protocol is proposed so that the triggering instants can be calculated locally to realize a fully distribute formation containment control. The performances of the presented method are demonstrated by the simulation of formation containment control for a heterogeneous MAS with a group of vehicles and unmanned aerial vehicles.

Lyapunov-Based Output Containment Control of Heterogeneous Multi-Agent Systems With Markovian Switching Topologies and Distributed Delays

This paper considers the mean square output containment control problem for heterogeneous multi-agent systems (MASs) with randomly switching topologies and nonuniform distributed delays. By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration, a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders' states. A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays. By constructing a novel switching Lyapunov functional, the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition. Finally, two numerical examples are given to show the effectiveness of the proposed controller.

Observer-Based Resilient Consensus Control for Heterogeneous Multiagent Systems Against Cyberattacks

Observer-Based Resilient Consensus Control for Heterogeneous Multiagent Systems Against Cyberattacks

Bipartite hybrid formation tracking control for heterogeneous multi-agent systems in multi-group cooperative-competitive networks

In this paper, the problem of bipartite hybrid formation tracking for multi-agent systems with heterogeneous groups is studied. First, the network structure problem of a cluster of agents with both group relationship and cooperation-competition relationship is discussed. Then, based on the leading-following method, the system model consisting of nonlinear second-order dynamic agents and first-order linear dynamic agents is determined. In this network system, the first group of second-order dynamic individuals needs to track their leader with unknown input and realizes the bipartite time-invariant formation, while the other group tracks its leader to realize the bipartite time-varying formation. To solve this problem, a new control protocol based on neighbor information and leader dynamics is designed. In addition, for first-order dynamic individual, a velocity estimator is introduced to estimate its velocity state. Next, algebraic graph theory and Lyapunov stability theory are used to prove that the formation error can approach arbitrary neighborhood of zero. Finally, the simulation results show the feasibility of the proposed conclusions and the effectiveness of the designed velocity estimator.

Time-varying Group Formation with Leader-following Control for Heterogeneous Multi-agent Systems

Time-varying Group Formation with Leader-following Control for Heterogeneous Multi-agent Systems

Adaptive Fuzzy Fixed Time Time-Varying Formation Control for Heterogeneous Multiagent Systems With Full State Constraints

This article presents an adaptive fuzzy fixed time time-varying formation control (TVFC) method for uncertain heterogeneous nonlinear multi-agent systems (HNMASs) with full state constraints. Meanwhile, both partial loss of effectiveness and bias fault are considered in HNMASs. The fuzzy logic systems (FLSs) are selected as an effective tool to approximate uncertain nonlinear functions. The original constrained states of the systems will be converted to unconstrained states by the nonlinear transformed function (NTF). Compared with previous papers, it is the first time to handle the TVFC problem of HNMASs with full state constraints. In addition, formation control based on an adaptive fuzzy fixed time strategy not only ensures fast convergence of the system, but also the convergence time doesn't depend on any initial conditions. The stability of HNMAs is proven by the fixed time stability theory. Finally, a simulation is given to testify the effectiveness of the control method.

Distributed Optimization Control for Heterogeneous Multiagent Systems under Directed Topologies

This paper focuses on the solutions for the distributed optimization coordination problem (DOCP) for heterogeneous multiagent systems under directed topologies. To begin with, a different convex optimization problem is proposed, which implies a weighted average of the objective function of each agent. Sufficient conditions are set to ensure the unique solution for the DOCP. Then, despite the external disruption, a distributed control mechanism is constructed to drive the state of each agent to the auxiliary state in a finite time. Furthermore, it is demonstrated that the outputs of all agents can achieve the optimal value, ensuring global convergence. Moreover, the controller design rule is expanded with event-triggered communication, and there is no Zeno behavior. Finally, to exemplify the usefulness of the theoretical conclusions, a simulation example is offered.

Distributed output formation tracking control of heterogeneous multi-agent systems using reinforcement learning

This paper studies the distributed time-varying output formation tracking problem for heterogeneous multi-agent systems with both diverse dimensions and parameters. The output of each follower is supposed to track that of the virtual leader while accomplishing a time-varying formation configuration. First, a distributed trajectory generator is proposed based on neighboring interactions to reconstitute the state of virtual leader and provide expected trajectories with the formation incorporated. Second, an optimal tracking controller is designed by the model-free reinforcement learning technique using online off-policy data instead of requiring any knowledge of the followers’ dynamics. Stabilities of the learning process and resulting controller are analyzed while solutions to the output regulator equations are equivalently obtained. Third, a compensational input is designed for each follower based on previous learning results and a derived feasibility condition. It is proved that the output formation tracking error converges to zero asymptotically with the biases to cost functions being restricted arbitrarily small. Finally, numerical simulations verify the proposed learning and control scheme.

Distributed bipartite output containment control of heterogeneous multi-agent systems with directed signed graphs

This paper investigates the bipartite output containment control problem by utilising distributed control protocols for heterogeneous multi-agent systems over directed signed graphs. A fully distributed dynamic compensator is proposed to estimate the convex hull and symmetric convex hull spanned by states of leaders. Then, a distributed observer based on neighbour information is presented for estimating the state of each follower. An output feedback control protocol is further given based on the fully distributed dynamic compensator and neighbour-based observer to cope with the bipartite containment control problem of the linear heterogeneous multi-agent systems. Different from the related works, a neighbour-based observer is presented for heterogeneous multi-agent systems, in which the analysis method used in the Luenburger observer cannot be applied directly, because of the heterogeneity. Besides, the dynamics of the agents are allowed to not only have nonidentical coefficient matrices but also have different dimensions. A simulation example is shown to verify the effectiveness of the proposed theoretical results.

Dynamic Event-Triggered Bipartite Output Consensus for Heterogeneous Multi-Agent Systems Under Signed Digraphs

In this brief, the bipartite output consensus (BOC) problem is studied by dynamic event-triggered control for heterogeneous multi-agent systems under signed digraphs. A novel fully distributed control protocol, containing an observer-based adaptive controller and a Zeno-free dynamic event-triggered mechanism (ETM), is provided to guarantee the asymptotic convergence of BOC errors. Notably, an internal dynamic variable is introduced in the ETM to prolong interevent time intervals, which further reduces consumption on transmission. In addition, it is worth pointing out that the provided protocol remains valid even if global information about signed digraphs is unavailable. Finally, a numerical example is taken to demonstrate the effectiveness of protocol.

Continuous Fixed-Time Fault-Tolerant Formation Control for Heterogeneous Multiagent Systems Under Fixed and Switching Topologies

This article proposes a novel continuous fixed-time fault-tolerant formation control framework for heterogeneous multiagent systems (HMASs) involving unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and model uncertainties under fixed and switching topologies. Firstly, to estimate the information of actuator faults and uncertainties for each follower, a fixed-time observer is constructed. Then, an integral fixed-time sliding mode surface is designed such that the merits of high robustness, exact transient response and fixed-time convergence can be achieved. Subsequently, based on the integration of disturbance observer, high-order sliding mode and backstepping technologies, distributed and decentralized continuous fixed-time formation tracking control schemes under actuator faults are developed of the HMASs in the X-Y axis and Z axis, respectively. The proposed algorithm can not only handle time-varying formation in a timely manner, but also provide continuous control action under fixed and switching topologies. It is theoretically proved that the designed protocol can realize the expected fixed-time formation missions by employing the Lyapunov stability theorem. Finally, simulation results verify the effectiveness of the designed fixed-time control algorithm.

Sliding mode fault-tolerant consensus control for heterogeneous multi-agent systems based on finite-time observer and controller

This paper mainly investigates the fault-tolerant consensus problem for leader-following heterogeneous multi-agent systems with actuator faults. The model of multi-agent systems is reconstructed and the lumped faults, including external disturbances and actuator faults, are constructed. A new adaptive super-twisting sliding mode observer (ASTSMO) is constructed to estimate the undetectable lumped faults. The time-varying gain is introduced to solve the initial error problem and peak value problem. Then, based on the estimated results, an integral terminal sliding mode controller (ITSMC) is designed by integrating the fixed-time stability theory, which can effectively eliminate the nonlinear term and lumped faults. Finally, simulations are provided to illustrate the effectiveness and benefits of the proposed theoretical results.

Fixed-Time and Prescribed-Time Fault-Tolerant Optimal Tracking Control for Heterogeneous Multiagent Systems

Fixed-Time and Prescribed-Time Fault-Tolerant Optimal Tracking Control for Heterogeneous Multiagent Systems

Fully Distributed Dynamic Event-Triggered Pinning Cluster Consensus Control for Heterogeneous Multiagent Systems With Cooperative–Competitive Interactions

In this article, the cluster consensus of heterogeneous multiagent systems is investigated via dynamic event-triggered and pining control strategies. Comprehensively considering the cooperative and competitive interactions among the agents, a novel cluster consensus control protocol is designed, and a class of fully distributed dynamic event-triggered laws that do not depend on the global information is proposed. Being distinct from the traditional static threshold value, a time-varying threshold value is introduced which can effectively reduce the trigger time. Meanwhile, some sufficient conditions are obtained theoretically by using Lyapunov stability theory and the pinning control strategy is addressed as well. Furthermore, it has also been shown that each agent can exclude Zeno behavior. Finally, two simulated examples are given to illustrate the correctness and validity of the proposed methods and our findings.