Second-order Nonlinear Multi-agent Systems Research Articles

Distributed Adaptive Predefined-Time Bipartite Containment Algorithm for Nonlinear Multi-Agent Systems with Actuator Faults

Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults. The communication topology of multi-agent systems is fixed and directed. To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults, the sliding mode method is introduced. Control protocol for multi-agent systems demonstrates its effectiveness. Finally, simulations are provided to verify the effectiveness of the proposed algorithm.

Research on nonlinear second-order multi-agent systems containment control method with inherent time-delay based on compensator

In this study, a nonlinear second-order multi-agent systems containment control method based on compensator is discussed. In order to deal with nonlinear systems with inherent time delay, a new compensator-based control algorithm is proposed. The fully distributed compensator is designed to effectively converge the states of all followers to the convex hull formed by the states of leaders. By introducing a compensator, the errors in the system can be corrected and the influence of time delay on the system can be compensated to ensure that the system can achieve the desired performance and stability. Then, the original system is transformed into an error system by using matrix theory, and the stability of the error system is analyzed by using Lyapunov method, and the sufficient conditions for the solvability of the control problem are obtained. Finally, the effectiveness of the control algorithm is verified by matlab simulation.

Distributed Nash Equilibrium Seeking for Constrained Multicluster Games of Second-Order Nonlinear Multiagent Systems

Distributed Nash Equilibrium Seeking for Constrained Multicluster Games of Second-Order Nonlinear Multiagent Systems

Bipartite formation control of second-order multi-agent systems with antagonistic interactions under dynamic event-triggered adaptive schemes

This article examines the adaptive leader-following bipartite formation (LBF) of second-order nonlinear multi-agent systems (MASs) with antagonistic interactions over a directed signed graph. To save the scarce communication resources efficiently, a novel distributed controller is designed for the LBF of the MASs, where a dynamic event-triggered (DET) control protocol with dynamic parameters is proposed. Meanwhile, the optimal control gains for realizing adaptive bipartite formation are obtained in accordance with the designed adaptive updating laws. By employing the DET mechanism and the Lyapunov functionals in conjunction, sufficient criteria for the adaptive LBF of the second-order MASs with antagonistic interactions and a directed signed graph are obtained. Furthermore, it has been demonstrated that Zeno phenomenon doesn't exist. Finally, the efficacy of the theoretical outcomes and the control protocol is validated through a numerical simulation.

Adaptive finite-time consensus tracking for nonlinear second-order multi-agent systems based on integral sliding mode

This paper delves into the investigation of finite-time consensus for second-order nonlinear multi-agent systems (MASs) with external disturbances under directed topology. The MASs considered in this study consist of n followers and a leader, and the followers are subject to bounded disturbances. First, a continuous nonsingular integral terminal sliding mode is designed, which can effectively eliminate the singularity and chattering. Then, a finite-time disturbance observer is introduced to estimate and compensate for disturbances. Subsequently, an integral sliding mode adaptive controller is designed to enhance system’s robustness, improve response speed, and increase tracking accuracy. Furthermore, Lyapunov theory is utilized to demonstrate that the system achieves finite-time consensus under a directed connected topology. Finally, we apply a simulation to verify the efficacy of the proposed consensus control protocol.

Impulsive fault-tolerant adaptive control on second-order nonlinear multiagent systems by extended observer approach

Impulsive fault-tolerant adaptive control on second-order nonlinear multiagent systems by extended observer approach

Consensus tracking control for nonlinear second-order multi-agent systems with input magnitude and rate constraints

Consensus tracking control for nonlinear second-order multi-agent systems with input magnitude and rate constraints

Fixed-time consensus and finite-time flocking of second-order nonlinear multi-agent systems under false data injection attacks

This paper focuses on addressing consensus and flocking issues in second-order nonlinear multi-agent systems (MASs) under the false data injection attacks. Novel adaptive control protocols are proposed to effectively mitigate the impact of these attacks by updating adaptive parameters. Based on algebraic graph theory, matrix theory and the Lyapunov approach, various sufficient conditions are established, which show the fixed-time consensus and finite-time flocking can be achieved for the MASs. Moreover, some upper bounds for the settling time are derived in terms of the parameters of the model. Finally, three simulation examples are presented to validate the efficacy of our proposed theoretical results.

Prescribed-Time Network-Based Deployment of Nonlinear Multiagent Systems: A Discrete-Space PDE Method.

This article attempts to design the prescribed-time time-varying deployment schemes for first-order and second-order nonlinear multiagent systems (MASs). We assume that all agents can obtain the information of their current and final relative positions with their neighbors, and the final absolute velocities (as well as their current and final relative velocities, the final absolute accelerations for the second-order MASs) through a communication network, whereas two boundary agents are able to obtain their current and final absolute positions (as well as their current and final absolute velocities for the second-order MASs). The neighbor relationship of all agents is described by a spatial variable and two static-feedback controllers are introduced, which can be expressed as a second-order space difference of the spatial variable. Then, the deployment of MASs can be transformed into the stabilization of discrete-space partial differential equation (PDE) systems. Three virtual agents are introduced to constitute the Dirchlet and Neumann boundary conditions. Several algebraic inequality criteria are derived to guarantee that the prescribed-time time-varying deployment can be achieved within a prescribed time under the Dirchlet and mixed boundary conditions. Unlike the published results, our results are derived based on the discrete-space PDE systems instead of continuous-space PDE systems, which is consistent with the discrete spatial distribution of agents. Finally, two numerical examples are given to illustrate the effectiveness of our results.

Neural Network-Based Fixed-Time Tracking and Containment Control of Second-Order Heterogeneous Nonlinear Multiagent Systems.

This study concentrates on the fixed-time tracking consensus and containment control of second-order heterogeneous nonlinear multiagent systems (MASs) with and without measurable velocity under directed topology. By defining a time-varying scaling function and approximating the unknown nonlinear dynamics with radial basis function neural networks (RBFNNs), a novel distributed protocol for solving the fixed-time tracking consensus and containment control problems of second-order heterogeneous nonlinear MASs with full states available is proposed based on a nonsingular sliding-mode control method constructed by designing a prescribed-time convergent sliding surface. For the scenario of immeasurable velocity, a fixed-time convergent states' observer is designed to reveal the velocity information when the unknown linearity is bounded. Subsequently, a distributed fixed-time consensus protocol based on observed velocity information is proposed for the extended results. Ultimately, the acquired results are verified by three simulation examples.

Predefined-Time Consensus for Second-Order Nonlinear Multiagent Systems via Sliding Mode Technique

Predefined-Time Consensus for Second-Order Nonlinear Multiagent Systems via Sliding Mode Technique

Event-triggered secure consensus for second-order nonlinear multiagent systems against asynchronous DoS attacks

This paper investigates secure consensus of the second-order nonlinear multiagent systems under malicious asynchronous DoS attacks by using event-triggered control. Due to the presence of diverse attackers, network protocols, and different defense strategies, asynchronous launched DoS attacks are always considered in communication and control channels. Moreover, to alleviate the pressure on communication and computing resources, a distributed event-triggered control strategy is presented, where the control strategy relies on the agent’s own and its neighbors’ information. Then, several secure consensus criteria for multiagent systems with directed and undirected topologies are established based on the designed distributed controller and different Lyapunov functions. Furthermore, it is demonstrated that the trigger sequences eliminate Zeno behavior by utilizing a hybrid event-triggered strategy. Finally, the usefulness of the achieved outcomes is substantiated via two simulation examples.

Scaled consensus of second-order nonlinear multi-agent systems with fully distributed adaptive aperiodically intermittent communication: A non-reduced order approach

Scaled consensus of second-order nonlinear multi-agent systems with fully distributed adaptive aperiodically intermittent communication: A non-reduced order approach

Distributed optimal coordination algorithm for nonlinear second-order multi-agent systems and its application to vehicle platoon

This paper addresses the problem of distributed optimal coordination over second-order multi-agent systems, where the dynamics are nonlinear and unknown. To solve this problem, a state-based observer is designed to handle the unknown matched and unmatched nonlinear terms. Using this observer and the proportional–integral control concept, a distributed optimal coordination algorithm with fixed control parameters is constructed through the consensus scheme and gradient flow method. With the help of the Routh–Hurwitz stability criterion, the exponential convergence proof is guaranteed under the condition that the nonlinear term and the convex local cost function are all locally Lipschitz. Finally, we present four simulation examples, including the vehicle platoon’s cooperative control, to demonstrate the efficiency of our proposed algorithms.

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 of heterogeneous nonlinear multi-agent systems within arbitrary pre-specified time

Abstract The leader-following consensus problem of second-order heterogeneous nonlinear multi-agent systems (MASs) is studied in this paper. Based on the free-will arbitrary time (FWAT) theory, a piecewise distributed controller is developed to solve this problem within an arbitrary pre-specified convergence time. It should be noted that the pre-specified convergence time is independent of any system parameters and initial conditions. Furthermore, compared with the existing FWAT methods, consensus can still be maintained after the convergence time under the protocol designed in this work. Finally, numerical examples are given to illustrate the validity of the proposed method.

Fast finite-time formation control with obstacle avoidance of second-order multi-agent systems with input saturation

This paper proposes a leader–follower formation control protocol using fast finite-time (FFT) theory, based on second-order nonlinear multi-agent systems (MASs) with input saturation constraints. The artificial potential field method is addressed to implement the formation control with obstacle avoidance of the MASs. An adaptive FFT strategy is constructed that all the agents follow required formation performance. Neural networks are considered to approximate uncertain functions, which improved convergence and ensuring safety of distributed formation control. Finally, the validity of the theoretical approach is demonstrated by FFT stability theory validated by simulation examples.

Pinning Group Consensus of Multi-agent Systems Under DoS Attacks

In this paper, group consensus is investigated for a class of nonlinear multi-agent systems suffered from the DoS attacks. Firstly, a first-order nonlinear multi-agent system is constructed, which is divided into M subsystems and each subsystem has an unique leader. Then a protocol is proposed and a Lyapunov function candidate is chosen. By means of the stability theory, a sufficient criterion, which involves the duration of DoS attacks, coupling strength and control gain, is obtained for achieving group consensus in first-order system. That is, the nodes in each subsystem can track the leader of that group. Furthermore, the result is extended to nonlinear second-order multi-agent systems and the controller is also improved to obtain sufficient conditions for group consensus. Additionally, the lower bounds of the coupling strength and average interval of DoS attacks can be determined from the obtained sufficient conditions. Finally, several numerical simulations are presented to explain the effectiveness of the proposed controllers and the derived theoretical results.

Distributed Fixed-Time Optimization for Second-Order Nonlinear Multiagent Systems: State and Output Feedback Designs

Distributed Fixed-Time Optimization for Second-Order Nonlinear Multiagent Systems: State and Output Feedback Designs

Fixed-time cooperative output regulation for second-order nonlinear multiagent systems with an unknown exosystem

This paper investigates the fixed-time cooperative output regulation (FTCOR) problem with unknown exosystem of second-order nonlinear multiagent systems. To solve this problem, it is necessary to ensure that each agent can obtain the reference trajectory originating from an unknown exosystem and reconstruct the solution of the regulator equation containing the exogenous signal and unknown parameter vectors within a fixed time, and the unknown exosystem makes it difficult to solve these two problems with existing tools. By using auxiliary filtering variables, we propose a fixed-time adaptive distributed observer (FTADO) and design a fixed-time distributed internal model (FTDIM) based on this FTADO. These two new tools ensure the solvability of the two problems just mentioned. Then, based on these two tools, we transform the problem into a fixed-time stabilization problem of a so-called augmented system. Through the backstepping technique, we propose a distributed controller that solves this fixed-time stabilization problem while relaxing the assumptions of similar references.