Tracking Of Multi-agent Systems Research Articles

Time-varying formation optimization tracking of multi-agent systems with semi-Markov switching topology

Time-varying formation optimization tracking of multi-agent systems with semi-Markov switching topology

Fault-Tolerant Cooperative Bipartite Formation Tracking of Multiagent Systems on Signed Directed Networks With Actuator Faults

Fault-Tolerant Cooperative Bipartite Formation Tracking of Multiagent Systems on Signed Directed Networks With Actuator Faults

Average Consensus Tracking of Weight-Balanced Multi-Agent Systems via Sampled Data

This paper studies the average consensus tracking problem of first-order multi-agent systems under directed topologies. A control protocol is constructed based on the neighbors’ agent sampled information. With the help of the matrix theory and frequency domain analysis, the necessary and sufficient condition can be induced for the average consensus tracking of multi-agent systems, although the weight-balanced condition is not satisfied. In addition, a numerical simulation example is given to illustrate the effectiveness of the proposed results.

Energy-Constraint Adaptive Time-Varying Formation Tracking for Multi-Agent Systems With Multiple Leaders and Bounded Unknown Inputs

Energy-Constraint Adaptive Time-Varying Formation Tracking for Multi-Agent Systems With Multiple Leaders and Bounded Unknown Inputs

Leader-Following Formation Tracking of Multiagent Systems Using Adaptive Scaling Mechanism Under Spatial Constraints

Leader-Following Formation Tracking of Multiagent Systems Using Adaptive Scaling Mechanism Under Spatial Constraints

SMC-Based Bounded Consensus Tracking for Multiagent Systems Under Stochastic DoS Attacks With Applications to Multiple DC Motors

SMC-Based Bounded Consensus Tracking for Multiagent Systems Under Stochastic DoS Attacks With Applications to Multiple DC Motors

Time-Varying Group Formation Tracking for Multiagent Systems With Competition and Cooperation via Distributed Nash Equilibrium Seeking

Time-Varying Group Formation Tracking for Multiagent Systems With Competition and Cooperation via Distributed Nash Equilibrium Seeking

Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

Fully Distributed Event/Self-Triggered Formation Tracking for Multiagent Systems Under Denial-of-Service Attacks

Fully Distributed Event/Self-Triggered Formation Tracking for Multiagent Systems Under Denial-of-Service Attacks

Time-varying formation tracking for multi-agent systems with maneuvering leader under DDoS attacks and actuator faults

Time-varying formation tracking problems for multi-agent systems (MASs) under distributed Denial-of-Service (DDoS) attacks and actuator faults are studied. To deal with the hybrid threats at the cyber and physical layers, an estimator-based fault-tolerant hierarchical control scheme is introduced, which is applicable to channel-wise asynchronous communication. Sufficient conditions for formation tracking of maneuvering leader with ultimately bounded error are obtained, and the particular case of periodic communication and attacks with constrained duration and frequency is further analyzed. Comparative physical simulations based on ROS and Gazebo are first conducted to show the resilience of our scheme against the threats. Finally, an experimental platform containing DJI Tello quadrotors and a self-developed ground control station is built, based on which practical experiments with four quadrotors are carried out to evaluate the effectiveness and engineering practicability of the proposed control framework.

Bipartite Time-Varying Output Formation Tracking for Multiagent Systems With Multiple Heterogeneous Leaders Under Signed Digraph

This article investigates the bipartite time-varying output formation tracking issue for heterogeneous linear multi-agent systems with multiple leaders under signed digraph. Different from previous related works, the leaders are considered to be heterogeneous, which greatly increases the difficulty of designing distributed control strategies. To address this issue, we develop a novel fully distributed dynamic event-triggered formation tracking control strategy and the Zeno behavior is ruled out. Compared with previous relevant results, in addition to addressing a more meaningful new issue, the developed control strategy also has the following advantages: 1) the control strategy gets rid of this assumption that each given follower must be well-informed or uninformed; 2) the adaptive gains do not increase unboundedly in the presence of external disturbances; 3) the inter-event time is larger. Moreover, a self-triggered realization based on sampled information is also formulated for the developed control strategy. Finally, the theoretical result is demonstrated by a simulation example.

Event-based [formula omitted] consensus tracking for multi-agent systems under switching networks

This paper systematically investigates consensus tracking of linear multi-agent systems with disturbances over directed switching topologies. Both state and output feedback H∞ controllers are jointly synthesized with the triggering mechanism. First, a state-based event-triggered H∞ controller design for achieving consensus tracking is carried out, which can result in settling the occurrence of disturbances and the reduction of controller updates as well as averting Zeno behavior. Considering the case that only output information of agent is required, an event-triggered H∞ output feedback controller is then proposed and sufficient condition for the solvability of consensus tracking problem are also derived. Compared with the existing results, the effects of disturbances on directed switching topologies can be tackled when continuous communication and full-state information of the agent are not needed. Numerical simulation are finally conducted to illustrate the effectiveness of the proposed methods.

Fully Distributed Dynamic Event-Triggered Bipartite Formation Tracking for Multiagent Systems With Multiple Nonautonomous Leaders.

Considering that cooperative interactions and antagonistic interactions between neighboring agents may exist simultaneously in practice, this article studies the bipartite time-varying output formation tracking (BTVOFT) problems for homogeneous/heterogeneous multiagent systems with multiple nonautonomous leaders under switching communication networks. First, a full-dimensional observer-based nonsmooth distributed dynamic event-triggered (DDET) output feedback control scheme is proposed to ensure that BTVOFT is achieved, and the Zeno behavior is excluded. Note that the nonsmooth distributed control scheme requires global communication network information and may cause unexpected chattering effect, and the design cost of full-dimensional observer is relatively high. Thus, a reduced-dimensional observer-based continuous fully DDET scheme is proposed. Compared with the existing event-triggered schemes, the dynamic event-triggered scheme can ensure larger interevent times by introducing an additional internal dynamic variable. Finally, the effectiveness and performance of the theoretical results are validated by numerical simulations.

Fuzzy Distributed Containment Tracking of Multi-Agent Systems with Uncertain Granular Fuzzy Linear Dynamics

Fuzzy Distributed Containment Tracking of Multi-Agent Systems with Uncertain Granular Fuzzy Linear Dynamics

Fault estimation and consensus tracking of multi-agent systems based on intermediate estimator

The consensus tracking of multi-agent systems (MASs) with process and sensor faults is investigated in this paper. First, process faults are taken into account, and an intermediate estimator is designed to estimate the system states and faults. By formulating appropriate Lyapunov functions, some sufficient conditions are derived to ensure the consensus tracking of MASs. Subsequently, the obtained results are extended to the case that both process and sensor faults occur in MASs. Leveraging the estimated system states and faults, an unique control protocol is proposed to achieve the consensus tracking of MASs and effectively compensate for process faults. The obtained theoretical results are demonstrated and verified by two simulation examples.

Adaptive observer-based event-triggered finite time formation tracking for multi-agent systems with a non-cooperative leader

The event-triggered time-varying formation tracking for a class of second-order multi-agent systems (MASs) subject to a non-cooperative leader is investigated in this paper. First, in the presence of the unknown input of the leader and external disturbances, a distributed observer with adaptive parameters is put forward for followers to estimate the velocity tracking error. Then, based on the estimated tracking error and an auxiliary variable, a finite time formation controller is further constructed, which is updated depending on a pre-designed event-triggered mechanism. As a result, the desired time-varying formation configuration can be realized in finite time with less communication resource consumption. It’s noted that the constructed formation strategy doesn’t rely on any global information and thus is fully distributed. The stability of the controlled multi-agent system is proved rigorously and it’s verified that event-triggered intervals are with a positive lower bound. At last, simulations are carried out to illustrate the effectiveness of the presented algorithm.

Distributed Resilient Tracking of Multiagent Systems Under Actuator and Sensor Faults.

The distributed resilient tracking problem for multiagent systems (MASs) is investigated in the presence of actuator/sensor faults over directed topology. Both actuator fault and sensor fault are taken into account. Meanwhile, using the local information, the fault compensators are introduced. Then, based on the fuzzy-logic systems (FLSs) and modification technique of adaptive law, a novel distributed adaptive resilient control protocol is developed, which can compensate the effect of faults on the actuator and sensor. It turns out that all signals of MASs are bounded, while the tracking errors enter an adjustable bounded region around the origin. Toward the end, two simulations are provided to validate the effectiveness of the theoretical results.

Neural Network-Based Robust Bipartite Consensus Tracking Control of Multi-Agent System with Compound Uncertainties and Actuator Faults

This paper addresses the challenging problem of bipartite consensus tracking of multi-agent systems that are subject to compound uncertainties and actuator faults. Specifically, the study considers a leader agent with fractional-order nonlinear dynamics unknown to the followers. In addition, both cooperative and competitive interactions among agents are taken into account. To tackle these issues, the proposed approach employs a fully distributed robust bipartite consensus tracking controller, which integrates a neural network approximator to estimate the uncertainties of the leader and the followers. The adaptive laws of neural network parameters are continuously updated online based on the bipartite consensus tracking error. Furthermore, an adaptive control technique is utilized to generate the fault-tolerant component to mitigate the partial loss caused by actuator effectiveness faults. Compared with the existing works on nonlinear multi-agent systems, we consider the compound uncertainties, actuator faults and cooperative–competition interactions simultaneously. By implementing the proposed control scheme, the robustness of the closed-loop system can be significantly improved. Finally, numerical simulations are performed to validate the effectiveness of the control scheme.

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.

Secure consensus tracking of multi-agent systems with network-induced delays under deception attacks via guaranteed performance impulsive control

Secure consensus tracking of multi-agent systems with network-induced delays under deception attacks via guaranteed performance impulsive control