Second-order Integrator Agents Research Articles

Observability of Heterogeneous Multi-Agent Systems

This paper investigates the observability of discrete-time heterogeneous multi-agent systems (MASs) under an absolute protocol with switching topology and fixed topology, respectively, in which the agents are first-order and second-order integrator agents. By properly decomposing the adjacency matrix of such system into sub-matrices and selecting an appropriate output vector measured by the leaders, the dynamics of the heterogeneous MASs can be modelled as a classical LTI system. Based on switched theory, some algebraic features on the observability of discrete-time heterogeneous MASs are obtained by taking advantage of the invariant subspace for switching topology. Specially, an unobservable subspace is established by designing a switching sequence. Moreover, some necessary and/ or sufficient conditions for the observability of heterogeneous MASs with fixed topology are also derived by using Popov-Belevitch-Hautus (PBH) and the observable rank criteria based on the partitioned sub-matrices. Finally, numerical examples and simulations are given to show the theoretical results.

Distributed event-triggered consensus control for leaderless heterogeneous multiagent systems

In this paper, the consensus problem of heterogenous multi-agent systems (MASs) based on decentralized event-triggered is considered. The heterogeneous MASs proposed here is composed of two different dynamics: first-order integrator agents and second-order integrator agents. In order to alleviate the energy consumption of updating the control input, a decentralized event-triggered scheme is adopted. Each agent can decide its own triggering time sequence based on the communicating information from its neighbor agents and update its control input agreement according to its corresponding event time. Based on Lyapunov functional method and algebraic graph theory, some novel sufficient conditions are derived to ensure the consensus of heterogeneous MASs and the Zeno behavior is also demonstrated to be excluded. Finally, a numerical example is presented to demonstrate the results of the decentralized event-triggered consensus control.

Consensus Protocols for Heterogeneous Multiagent Systems with Disturbances via Integral Sliding Mode Control

The existing results on consensus of multiagent systems are mainly based on homogeneous systems; that is, all agents have the same dynamic model. This paper focuses on consensus of heterogeneous multiagent systems, which consist of first-order and second-order integrator agents. Based on integral sliding mode control, the consensus protocols of heterogeneous multiagent systems with disturbances are investigated under the directed networks. Some sufficient conditions for finite-time consensus are obtained by utilizing Lyapunov stability theory. Finally, some examples verify the effectiveness of the proposed control schemes.

Leader-following consensus of heterogeneous multi-agent systems with packet dropout

This paper studies the leader-following consensus problem for heterogeneous multi-agent systems composed of linear second-order integrator agents and nonlinear Euler-Lagrange agents in two aspects. The consensus problem of heterogeneous multi-agent systems is discussed with unknown velocities, time-varying disturbances and packet dropout by introducing extended state observer. Sufficient conditions are established to ensure that all following agents could reach consensus with a virtual leader, which provide the allowable upper bound of packet drop rate. Numerical simulations are presented to illustrate the theoretical results.

Consensus Analysis of Heterogeneous Multi-Agent Systems with Time-Varying Delay

This paper studies consensus and \(H_\infty\) consensus problems for heterogeneous multi-agent systems composed of first-order and second-order integrator agents. We first rewrite the multi-agent systems into the corresponding reduced-order systems based on the graph theory and the reduced-order transformation. Then, the linear matrix inequality approach is used to consider the consensus of heterogeneous multi-agent systems with time-varying delays in directed networks. As a result, sufficient conditions for consensus and \(H_\infty\) consensus of heterogeneous multi-agent systems in terms of linear matrix inequalities are established in the cases of fixed and switching topologies. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results.

Distributed finite-time regulation of a class of networked heterogeneous multi-agent systems

In this paper, we investigate the finite-time regulation problem for heterogeneous multi-agent system composed of linear first-order, second-order integrator agents and nonlinear Euler-Lagrange (EL) dynamical agents. Based on homogeneity approach, a continuous finite-time controller is designed. A distinctive feature of this work is to address the finite-time consensus problem of first-order, second-order integrator agents and nonlinear EL agents in a unified theoretical framework. Simulation results are also provided to illustrate the effectiveness of the controller.

Distributed consensus of a class of networked heterogeneous multi-agent systems

In this paper, we consider the consensus problem of a class of heterogeneous multi-agent systems composed of the linear first-order and second-order integrator agents together with the nonlinear Euler–Lagrange (EL) agents. First, we propose a distributed consensus protocol under the assumption that the parameters of heterogeneous system are exactly known. Sufficient conditions for consensus are presented and the consensus protocol accounting for actuator saturation is developed. Then, by combining adaptive controller and PD controller together, we design a protocol for the heterogeneous system with unknown parameters (in the nonlinear EL dynamics). Based on graph theory, Lyapunov theory and Barbalat's Lemma, the stability of the controllers is proved. Simulation results are also provided to illustrate the effectiveness of the obtained results.

Containment control of heterogeneous multi-agent systems

In this paper, we consider the containment control problem for a group of autonomous agents modelled by heterogeneous dynamics. The communication networks among the leaders and the followers are directed graphs. When the leaders are first-order integrator agents, we present a linear protocol for heterogeneous multi-agent systems such that the second-order integrator agents converge to the convex hull spanned by the first-order integrator agents if and only if the directed graph contains a directed spanning forest. If the leaders are second-order integrator agents, we propose a nonlinear protocol and obtain a necessary and sufficient condition that the heterogeneous multi-agent system solves the containment control problem in finite time. Simulation examples are also provided to illustrate the effectiveness of the theoretical results.

Finite-time consensus of heterogeneous multi-agent systems with and without velocity measurements

This paper studies the finite-time consensus problem of heterogeneous multi-agent systems composed of first-order and second-order integrator agents. By combining the homogeneous domination method with the adding a power integrator method, we propose two classes of consensus protocols with and without velocity measurements. First, we consider the protocol with velocity measurements and prove that it can solve the finite-time consensus under a strongly connected graph and leader-following network, respectively. Second, we consider the finite-time consensus problem of heterogeneous multi-agent systems, for which the second-order integrator agents cannot obtain the velocity measurements for feedback. Finally, some examples are provided to illustrate the effectiveness of the theoretical results.

Consensus of heterogeneous multi-agent systems without velocity measurements

This article considers the consensus problem of heterogeneous multi-agent system composed of first-order and second-order agents, in which the second-order integrator agents cannot obtain the velocity (second state) measurements for feedback. Two different consensus protocols are proposed. First, we propose a consensus protocol and discuss the consensus problem of heterogeneous multi-agent system. By applying the graph theory and the Lyapunov direct method, some sufficient conditions for consensus are established when the communication topologies are undirected connected graphs and leader-following networks. Second, due to actuator saturation, we propose another consensus protocol with input constraint and obtain the consensus criterions for heterogeneous multi-agent system. Finally, some examples are presented to illustrate the effectiveness of the obtained criterions.

Consensus of heterogeneous multi-agent systems

In this study, the consensus problem of heterogeneous multi-agent system is considered. First, the heterogeneous multi-agent system is proposed which is composed of first-order and second-order integrator agents in two aspects. Then, the consensus problem of heterogeneous multi-agent system is discussed with the linear consensus protocol and the saturated consensus protocol, respectively. By applying the graph theory and Lyapunov direct method, some sufficient conditions for consensus are established when the communication topologies are undirected connected graphs and leader-following networks. Finally, some examples are presented to illustrate the theoretical results.