Cloud-Based Distributed Leader-Following Consensus for Multi-agent Systems

In this manuscript, the stability and consensus problem of the leader-following multi-agent system is studied. The state information of the leader is only available to the dynamics of all the followers, while the communication among the agents occurs at sampling instant. The innovative part of this paper is to reach the consensus and attain the stability for prescribed MASs with interval time varying delay using impulsive control in the presence of leader. The interaction between the agent is illustrated by an undirected graph. A class of distributed impulsive protocol relying on sampling information is suggested to reach the leader following consensus. The consensus is critically relying on the sampling period, control gains. By performing the similar procedures, the consensus problem of multi-agent system is converted to stability problem of the error system. By utilizing the stability theory of impulsive systems, algebraic graph theory, sufficient conditions are derived to guarantee the leader-following consensus of the multi-agent system. Terminally, a numerical example is given to show an efficacy of this presented approach and the sureness of theoretical analysis.

This paper investigates the problem of leader-following consensus of a linear multi-agent system on a switching network. The input of each agent is subject to saturation. Low gain feedback based distributed consensus protocols are developed. It is established that, under the assumptions that each agent is asymptotically null controllable with bounded controls and that the network is connected or jointly connected, semi-global leader-following consensus of the multi-agent system can be achieved. Numerical examples are presented to illustrate this result.

In this paper, a time-varying leader-following consensus of multi-agent systems under fixed, connected and undirected communication topology is presented. In the proposed method, the dynamics of each agent including the followers and their corresponding leader is a linear nth order system. Moreover, the communication topology between the leader and its neighbours depends upon bounded and time-varying functions, assumed to remain connected as time passes. To tackle this problem, a set of time-varying distributed control laws for each follower agent is designed, based on algebraic graph theory, algebraic Riccati equation and Lyapunov direct method. Simulation results indicate the effectiveness of the proposed method and display convergence to consensus is achieved in a finite time via time-varying distributed control laws.

This paper studies the observer-based leader-following consensus of a linear multiagent system on switching networks, in which the input of each agent is subject to saturation. Based on a low-gain output feedback method, distributed consensus protocols are developed. Under the assumptions that the networks are connected or jointly connected and that each agent is asymptotically null controllable with bounded controls and detectable, semiglobal observer-based leader-following consensus of the multiagent system can be reached on switching networks. A numerical example is presented to illustrate the theoretical results.

In this paper, the distributed leader-following consensus problem of multi-agent systems with uncertain topological graph is formulated from the viewpoint of two dimensional systems over a finite time interval. Combining with iterative learning control, the fully distributed consensus protocols with the adaptive updating laws of unknown time-varying coupling strengthes appeared in the communication topology are proposed for linear multi-agent systems. By choosing appropriate Lyapunov-Krasovskii functional, the leader-following consensus can be achieved on [0,T] for all undirected connected topology graph when the number of iterations tends to infinity. Finally, a simulation example is given to demonstrate the effectiveness of theoretical results.

The event-based leader-following consensus problem for multi-agent systems with input saturation is studied in this paper. The control input update is event-driven, and the triggering function is linear, under the given trigger function and trigger condition. At first, a sufficient condition of the leader-following consensus for multi-agent systems without input saturation is presented. Furthermore, under the constraint of input saturation and communication time delay, the leader-following consensus control is achieved through designing control protocol and choosing suitable parameters of control input. Lyapunov function in combination with S-procedure method is adopted to prove the consensus stability for multi-agent systems with input saturation and communication time delay. Moreover, the Zeno-behavior is excluded for the triggering time sequence. Finally, simulations are present to illustrate the effectiveness of the proposed consensus control protocols.

With the development of swarm intelligence in last decades, consensus problem of multi-agent systems has been attracting much attention. To reveal the inherent mechanism of leader-following consensus in multi-agent systems with stochastic dynamics, PI control protocols are designed in this paper. Owing to the stochastic analysis techniques, algebraic graph theory, and constructing appropriate Lyapunov function, it is proved that the leader-following consensus of nonlinear stochastic dynamical multi-agent systems can be reached in mean square. Sufficient condition are deduced to select the PI control protocol parameters. Finally, the theoretical results are demonstrated through a simulation example.

This paper studies the consensus tracking problem of a class of multi-agent systems where the dynamics of the leader and the followers are described respectively by integer and fractional order differential equations. It is shown that leader-following consensus tracking can be ensured if some carefully selected followers are informed and the relative position-based protocols are appropriately designed. A necessary and sufficient condition for the leader-following consensus in multi-agent systems is first proposed. It is found that, the real and imaginary parts of the eigenvalues of the augmented Laplacian matrix of the topology play important roles in achieving consensus. Finally, some numerical simulations are given to verify the effectiveness of the theoretical results.

Leader-following consensus of multi-agent systems with general linear models is investigated via event-based impulsive control approach. Event-based impulsive controller and state-dependent triggering function are designed. Impulsive instants are determined by certain triggering events, that is, impulsive effect performs only at the instants when events occur, and so as controller update. Sufficient conditions on leader-following consensus are proposed by using stability theory of impulsive differential equations, matrix theory, and inequality technique. Zeno-behavior is also excluded for the concerned closed-loop system. Besides, a technique that used the state information of agents only at event instants is proposed to avoid continuous communication among agents. Finally, an example is presented to illustrate the effectiveness of the obtained theoretical results.

The leader-follower consensus problem of first-order multi-agent systems with nonzero leader's control input and external disturbances is studied in this paper. By designing a novel fixed-time controller to solve consensus problem. The controller can better suppress external disturbance and non-zero leader's control input. Through fixed-time control strategy, each followers can achieve consensus with the leader at the setting time, the system achieves rapid stability, and the setting time is irrelevant of the initial state of the system. Finally, the effectiveness of the proposed controller is verified by a numerical simulation example.

Leader-following consensus of multi-agent system with a smart leader

This paper studies the leader-following consensus problem in continuous-time multi-agent networks with communications/updates occurring only at random times. The time between two consecutive controller updates is exponentially distributed. Some sufficient conditions are derived to design the control law that ensures the leader-following consensus is asymptotically reached (in the sense of the expected value of a stochastic process). The numerical examples are worked out to demonstrate the effectiveness of our theoretical results.

The problem of adaptive coupling multi-agent systems with communication delays is considered in this paper. First, the error system is constructed, and leader-following consensus problem is transformed into the stability problem of the local error system. Then, based on Lyapunov theory and techniques in matrix theory and inequalities, the conditions are obtained to ensure the achievement of leader-following consensus of multi-agent systems. Moreover, an adaptive coupling weight updating scheme is proposed to ensure leader-following consensus. Finally, a simulation is verified the correctness and strength of the theoretical results.

In our paper, the distributed consensus of multiagent systems within leader-follower framework. Especially, the unreliable communication network among the agents is considered for modeling practical application environment. Based on model transformation and employing the sum of squares approach, the consensus criteria are derived and the corresponding consensus gain can be designed. Finally, a simulation example is performed for showing the usefulness of our derived results.

Cellular neural networks have been applied in many fields and have shown good results. Therefore, this article studies the leader-following consensus problem (MSALFC) of multi-agent systems with fixed directed topology under cellular neural networks framework (CNNF). Compared with the common consensus problem, agents' communication topology is reconstructed through CNNF. Then, the breadth-first algorithm is used to cut unnecessary connections in the system. So that the undirected communication topology based on CNNF is transformed into a directed topology with only one spanning tree and communication protocol are constructed. Finally, an effective control protocol is designed to help the system achieve leader-follower consensus and Lyapunov stability theory is used to establish the sufficient condition to guarantee the realization of MSALFC. The communication protocol based on CNNF can not only effectively achieve the consistency of the system, but also reduce the communication traffic in the System. Numerical simulation is given to illustrate the theoretical results.