Singular Multi-agent Systems Research Articles

Data-sampled time-varying formation for singular multi-agent systems with multiple leaders

The time-varying formation problem of singular multi-agent systems under sampled data with multiple leaders is investigated in this paper. Firstly, a data-sampled time-varying formation control protocol is proposed in the current study where the communication among followers merely occurred at sampling instants, which can save the controller communication energy significantly. Secondly, necessary and sufficient conditions for the feasibility of the formation function are provided. In addition, an approach is presented to design the formation tracking control under sampled data with multiple leaders. Finally, numerical simulations validate the efficacy of the theoretical results.

Adaptive neural consensus tracking control for singular multi-agent systems against actuator attacks under jointly connected topologies

Adaptive neural consensus tracking control for singular multi-agent systems against actuator attacks under jointly connected topologies

Reachable set control of singular semi-Markov jump multi-agent systems with input delay via state decomposition method

This paper addresses the challenge of reachable set estimation in singular multi-agent systems with time-delay and semi-Markov switching topologies. The primary goal is to construct an ellipsoid that encompasses all states originating from the origin. Furthermore, criteria for reachable sets with reduced conservatism are developed. The singular multi-agent systems are reduced by the Laplace matrix, then the Lyapunov–Krasovskii functional is constructed by using decomposed state vector. In addition, the sufficient conditions for the reachable set of singular multi-agent systems bounded by ellipsoids are given by matrix theory and linear matrix inequality. Numerical examples show that our results is effective.

Observer-based consensus control for a class of nonlinear singular multi-agent systems

This paper studies the bounded consensus control problem for nonlinear singular multi-intelligence systems (NSMASs) based on observers, where the structure of nonlinear dynamics is completely unknown. Firstly, the unknown nonlinear terms are estimated by the linear parameterization method. However, since the system state is not directly available, the observers are used for state estimations, which leads to a double estimation problem in the parameterization process. Moreover, the distributed adaptive control protocols and the adaptive laws of unknown parameter estimations are developed in the leader-following and leaderless frameworks. Furthermore, the proposed control protocols achieve bounded consensus for the NSMASs. And the proposed nonlinear estimation methods guarantee bounded estimation performance of the unknown nonlinear terms in the double estimation problem. Finally, two examples are given to illustrate the effectiveness of the proposed methods.

Robust [formula omitted] time-varying formation control of singular multiagent systems under jointly connected topologies

This study investigates time-varying formation design and analysis problems for the singular multiagent systems (SMASs) with external disturbances and jointly connected topologies. Firstly, the novel nonlinear distributed formation protocol is formulated and the finite-time reachability of sliding mode surfaces is proved. Another improvement emphasizes that a common matrix can be extracted from the decomposition of all switching Laplacian matrices, which simplifies the formation control problem to admissible analysis. Secondly, by using the feedback impulse elimination and Cauchy convergence criterion methods, the solvability of the time-varying formation control is obtained. Thirdly, the external disturbances are well suppressed by the robust H∞ stability analysis. Finally, to verify the validity of the proposed theory, the simulation examples of hexagonal time-varying formation are provided.

Event-Triggered Consensus Control for Nonlinear Singular Multi-Agent Systems under Directed Topology

Event-Triggered Consensus Control for Nonlinear Singular Multi-Agent Systems under Directed Topology

Containment Control of Heterogeneous Liner Singular Multi-agent Systems by Distributed Event-triggered Control

Containment Control of Heterogeneous Liner Singular Multi-agent Systems by Distributed Event-triggered Control

Fuzzy tracking control of singular multi-agent systems under switching topology

<p>The consensus tracking problem of leader-follower multi-agent systems (MASs) with singular structures on jointly connected topology is studied in this paper. To achieve the objective of consensus tracking, a distributed adaptive control protocol is formulated to adjust the coupling weights among the agents using the adaptive rate, where the adaptive protocol can be implemented by each agent in a fully distributed manner without using any global information. A fuzzy logic system method is used to deal with the nonlinear terms in response to the limitations of nonlinear system analysis. The consensus tracking problem is transformed into an error system stability analysis, and two sufficient conditions are provided to guarantee the control objective based on Lyapunov stability theory and singular system theory. Finally, the effectiveness of this method is verified through a simulation example.</p>

Membership-Function-Dependent Reachable Set Synthesis of Takagi-Sugeno Fuzzy Singular Multi-Agent Systems Subject to Deception Attacks

Membership-Function-Dependent Reachable Set Synthesis of Takagi-Sugeno Fuzzy Singular Multi-Agent Systems Subject to Deception Attacks

Distributed Cooperative Control of Singular Multi-agent Systems Based on Fuzzy Logic Approach

Distributed Cooperative Control of Singular Multi-agent Systems Based on Fuzzy Logic Approach

Consensus Tracking of Singular Multiagent Systems via Sliding-Mode Approach

The admissible consensus tracking control of singular multiagent systems under nonlinear actuator attacks is investigated in this paper. A novel distributed adaptive protocol is designed, which can approximate the actuator attack by adaptive updating the weight matrix of neural network. An integral sliding surface is constructed based on the singularity of agents, and the sliding mode dynamics can reach the sliding mode surface in finite time under the proposed protocols. Sufficient conditions of impulse free and consensus tracking control of the singular multiagent systems are proved, and the attenuation of external disturbances is verified. The effectiveness of the proposed methods is verified through the numerical simulation examples.

Fully distributed bipartite output formation tracking for heterogeneous singular multiagent systems on signed digraphs

AbstractThis article investigates the bipartite output formation tracking problem of heterogeneous singular multiagent systems (MASs) over a signed digraph on which two types of cases without and with input saturation are considered, respectively. First, a novel formation tracking protocol is presented for heterogeneous singular MASs in the absence of input saturation constraints. In the proposed protocol, a distributed observer with adaptive updating mechanism is constructed for each follower, which does not involve global information of communication graph. Based on the observer, the designed controller addresses bipartite output formation tracking of heterogeneous singular MASs in a fully distributed fashion. Then, by the output regulation theory and low‐gain feedback technique, a low‐gain formation tracking protocol is proposed to achieve semi‐global bipartite output formation tracking for heterogeneous singular MASs subject to input saturation constraints. Finally, two simulation examples are given to illustrate the feasibility of theoretical results.

Cooperative Output Regulation of Singular Multiagent Systems Under Switching Topologies

Cooperative Output Regulation of Singular Multiagent Systems Under Switching Topologies

Distributed adaptive event-triggered control for general linear singular multi-agent systems

<abstract><p>This paper investigates the leader-following consensus of general linear singular multi-agent systems. A fully distributed adaptive event-triggered control protocol is first proposed by using the relative state estimate information between neighboring agents. Moreover, the proposed protocol does not require continuous communication between neighbors, which greatly alleviate the negative impact of communication. In addition, a novel adaptive gain is proposed, which will avoid using the Laplace of communication graph. Zeno behavior is excluded by proving that the inter-event times are lower bounded by a positive constant. Finally, a numerical simulation is proposed to verify the effectiveness and reliability of the protocol.</p></abstract>

Event-triggered consensus control for singular multi-agent systems based on observers

This paper is devoted to the problem of event-triggered consensus for a class of general linear singular multi-agent systems with undirected topology. Considering that the system states are not measurable, state observers are designed first, and then a new observer-based event-triggered sampling mechanism is proposed, which naturally avoids Zeno behavior. Furthermore, a distributed event-triggered consensus protocol is designed. By employing the Lyapunov-Krasovskii functional method and model transformation approach, sufficient conditions are obtained such that the consensus of the singular multi-agent systems can be achieved, while the explicit dynamic expression of the consensus function is also given. Finally, a numerical example is included to illustrate the effectiveness of the proposed results.

Sliding-Mode-Based Admissible Consensus Tracking of Nonlinear Singular Multiagent Systems Under Jointly Connected Topologies.

The admissible consensus tracking problem of nonlinear singular multiagent systems (SMASs) with time-varying delay, uncertainties, and external disturbances under jointly connected topologies is investigated in this article. First, the sliding-mode control (SMC) is applied to effectively reduce the adverse effects of uncertainties and nonlinearities of systems. Then, by the combination of admissible analysis, the Cauchy convergence criterion, and SMC, the sufficient conditions for the admissible consensus tracking and disturbance rejection of SMASs under jointly connected topologies are provided. Furthermore, a distributed SMC law is designed such that the sliding-mode dynamics trajectories reach the sliding surface in finite time. Finally, the simulation results are utilized to indicate the effectiveness of the presented methods.

Fully distributed adaptive time-varying formation control of singular multiagent systems

This paper addresses the fully distributed adaptive time-varying formation protocols design problem for singular multiagent systems with directed topology. The pinning control method is introduced into the design of the adaptive distributed protocols, which can effectively adjust the formation position among agents and greatly relax the constraints of the communication topology among agents. Then, the distributed algorithm that independent of the global information of the communication graph is designed to solve the proposed fully distributed protocols. Next, the sufficient conditions of time-varying formation control are provided by the feedback pulse elimination method and stability analysis. Finally, the time-varying formation simulation results are presented to verify the feasibility of the proposed theory.

Output Consensus for Fuzzy Singular Multi-Agent Fractional Order Systems With Actuator Saturation

This brief extends the issue of the consensus for fuzzy singular multi-agent fractional order systems (FOMAS). Firstly, based on an observer, a novel model about the systems with actuator saturation is proposed. Then, by generalized singular value decomposition (SVD) technology, sufficient conditions are presented to guarantee stabilization of fuzzy singular FOMAS with <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$0 &lt; \nu &lt; 1$ </tex-math></inline-formula> in terms of linear matrix inequalities (LMIs) which can easily be analyzed and calculated using optimization. Finally, a numerical example is shown that how to resolve LMIs to illustrate the feasibility of the results.

Non-fragile consensus control for nonlinear singular multi-agent systems: An event-triggered sampling scheme

This paper is devoted to the problem of non-fragile consensus control for a class of nonlinear singular multi-agent systems based on an event-triggered control strategy. To reduce the resource occupancy, a decentralized event-triggered sampling consensus control protocol for each agent is proposed, which does not require continuous communication among agents. Analysis of non-fragile consensus problem in the multi-agent systems is transformed into asymptotical stability issues of some lower dimensional subsystems via nonsingular transformation. Using the Lyapunov theory, sufficient conditions are obtained such that for all possible norm-bounded parameter variations in the protocol gains, the designed protocol can bring all agents’ states to a point of agreement. Furthermore, the corresponding protocol design method is also given. Numerical examples are included to illustrate the effectiveness of the derived results.

Finite‐time stability of singular multi‐agent systems with input time‐varying delay and non‐linear dynamics via non‐fragile controller

This paper deals with the finite-time stability problem of non-linear singular multi-agent systems subject to controller gain disturbance via a distributed non-fragile controller. The existing literature on this problem only applies to normal multi-agent systems, or ignores the possible change of control gain in the practical application of the controller, or requires that there is no time-varying delay in the control input. How to tackle the finite-time stability problem of singular multi-agent systems by considering input time-varying delay, Lipschitz non-linear dynamics and controller gain perturbation simultaneously is an open issue. In order to solve this problem, a distributed non-fragile controller is proposed for each agent to make the finite-time stability problem solved for any connected undirected connection topology. With the help of a Linear matrix inequality and a Lyapunov integral appropriate expression, the difficulty caused by the irreversibility of singular system matrices is solved. Then, a sufficient condition to ensure the finite-time stability of the closed-loop system is obtained for the singular multi-agent system including controller disturbance, input–output delay and non-linear dynamics. Finally, two numerical examples are used to illustrate the effectiveness of the proposed method.