Finite-time consensus control of second-order multi-agent systems with input saturation constraint

This paper studies the finite-time consensus (FTC) of second-order multi-agent systems (MASs), where the event-triggered strategy is adopted. Firstly, a new protocol is designed to solve the FTC problem for the MASs under consideration. Then, by using Lyapunov theory and graph theory, the sufficient conditions are obtained to guarantee the FTC of the MASs. Meanwhile, a lower-bounded inter-event time is given to exclude the Zeno behavior. Finally, a numerical simulation is presented to demonstrated the effectiveness of the 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.

This paper is devoted to the fixed-time consensus tracking control problem for a class of second-order nonlinear multi-agent systems. Firstly, a fixed-time consensus control protocol with full state feedback is proposed, which is consisted of three parts: the higher-order components for uniformly bounded convergence for any initial states, the lower-order components for exact finite time convergence to zero and the linear components for dominating the nonlinear terms in the system dynamics, respectively. By using the Lyapunov approach and bi-limit homogeneous theory, it can be proved that under the designed control protocol the fixed-time consensus tracking control can be achieved. To overcome the lack of the velocity measurements, a fixed-time convergent state observer is designed to estimate the velocity information for each agent. Then a new observer-based fixed-time output feedback control protocol is designed, which can guarantee that the states of all agents can converge to that of the leader in a fixed time. Finally, numerical simulations are performed to demonstrate the fixed-time performance of the proposed control protocol and observer.

The current paper is concerned with guaranteed cost consensus control for second-order multi-agent systems with time-invariant delays. First, based on the state errors, the guaranteed cost consensus control protocol is proposed, where the impacts of the time delays can be dealt with and the tradeoff between the consensus regulation performance and the control energy consumption can be realized. Then, sufficient criteria for the guaranteed cost consensus are derived, where the dimension of matrix variables is not dependent on the number of agents, and an approach to determine a guaranteed cost value is presented, which associates with the initial state errors and the delay term. Finally, numerical simulation examples are shown to demonstrate the theoretical results.

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

This paper studies fixed-time consensus of second-order leader-following multi-agent systems with inherent nonlinear dynamics. Firstly, a new fixed-time consensus protocol is designed to solve the tracking problem of the second-order nonlinear systems. By using Lyapunov theory and graph theory, we choose a different Lyapunov function candidate to verify the theoretical results. Then we consider the second-order multi-agent systems with multiple leaders and propose a new protocol to solve the fixed-time containment control problem. Finally, two numerical examples are proposed to demonstrate the effectiveness of the proposed fixed-time protocols.

This paper addresses the integrated challenge of consensus tracking for second-order nonlinear multi-agent systems (MAS) simultaneously subject to stochastic communication channel fading, actuator faults (both partial loss-of-effectiveness and bias types), and constrained network resources. To tackle this, a synergistic control scheme is proposed that co-designs a fading-resilient event-triggered communication mechanism with a chatter-free adaptive continuous integral sliding mode control (SMC) protocol. The event-triggering condition explicitly incorporates the statistical characteristics of channel fading, enabling efficient bandwidth usage under unreliable links. The proposed continuous SMC, equipped with an adaptive law, eliminates chattering entirely and operates without requiring prior knowledge of fault or disturbance bounds. It is rigorously proven that the tracking errors converge to a bounded region, and Zeno behavior is excluded, ensuring practical implement ability. Numerical simulations validate the effectiveness and superior performance of the proposed method compared to conventional discontinuous SMC and periodic sampling schemes.

This paper is devoted to a containment control problem with time-delay for second-order nonlinear multi-agent systems subject to external disturbances under a directed communication topology. First of all, a distributed delay-coupled protocol is proposed based on relative states among the neighboring agents. Then, sufficient conditions in terms of linear matrix inequality(LMI) are derived to make the followers asymptotically converge to the convex hull spanned by the leaders while satisfying desired H ∞ performance. It is proved that the time-delay protocol is sensitive to time delays. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.

In this paper, the problem of consensus tracking control for a class of second-order leader-following nonparametric uncertain multi-agent systems, which perform a given repetitive task over a finite interval with arbitrary initial error. By means of learning control and initial shift rectifying, a first-order attractor control algorithm is presented.In the tracking process, the proposed algorithm simultaneously rectifies all the initial state shifts, and after enough iterations, the all following multi-agents’ states perfectly track the leader’s state in the preset time interval. Finally, simulation results demonstrate the effectiveness of the learning control algorithm.

Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints

This paper considers a leader-following tracking control problem for second-order multiagent systems (MASs) under measurement noises and directed communication channels. It is assumed that each follower-agent can measure the relative positions and velocities of its neighbors in a noisy environment. Based on a novel velocity decomposition technique, a neighbor-based control law is designed to realize local control strategies for these continuous-time agents. It is shown that the proposed consensus protocol can guarantee that all the follower-agents track the active leader. In addition, this result is extended to a more general case with switching topologies. Finally, a numerical example is given for illustration.

Finite-time consensus of second-order leader-following multi-agent systems without velocity measurements

This article investigates adaptive control problems for unknown second-order nonlinear multiagent systems (MASs) via an event-triggered approach. An adaptive event-triggered consensus controller is given to second-order MAS with unknown nonlinear dynamics. We prove that the proposed consensus controller is free from Zeno behavior. Next, an adaptive event-triggered tracking controller is developed for leader-follower MAS with the leader having bounded nonzero control input. Both consensus and tracking controllers are fully distributed, which means that event-triggered controllers only use local cooperative information. Finally, an unknown second-order nonlinear MAS is used to verify the given event-triggered controllers.

In this article, for second-order multiagent systems with uncertain disturbances, the finite-time leader-follower consensus problem has been investigated. First, by considering that the leader's states are only available to part of the followers, a distributed estimator is constructed to estimate the state tracking errors between the leader and each follower. Then, an estimator-based control scheme is proposed under the event-triggered strategy to achieve finite-time leader-follower consensus. Besides, the event-triggered intervals are with a positive lower bound such that the Zeno behavior can be avoided. Note that the system is discontinuous under the event-triggered mechanism; thus, a nonsmooth analysis is performed. Numerical simulations are presented to demonstrate the effectiveness of our theoretical results.

This paper considers the problem on formation tracking control of second-order multi-agent systems (MASs) with communication time-varying delay. Sufficient conditions on the directed interaction topology and existence of the feedback gains to ensure the desired control are presented. Through choosing two augmented Lyapunov–Krasovskii (L–K) functionals and using some novel Wirtinger-based integral inequalities, the previously ignored information can be reconsidered and the application area of derived results can be greatly extended. Moreover, a novel constructive technique is given to compute out the controller gain by resorting to solving the achieved linear matrix inequalities (LMIs). Finally, a numerical example with comparisons and simulations is provided to illustrate the obtained results.