Observer-based distributed adaptive fault-tolerant containment control of multi-agent systems with general linear dynamics

This paper investigates the distributed containment control problem for multi-agent systems with general linear dynamics under a directed graph. A new observer based on the relative outputs of neighboring agents is developed to estimate the relative states of neighbors which avoid designing the observer for the leaders in the existing literature. A matrix transformation is introduced to eliminate the coupling terms resulting from the simultaneous design of the observer and the controller gains. Then a sufficient condition on the existence of the observer-based controllers is presented in terms of strict linear matrix inequalities. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed design method.

Bipartite time-varying formation group containment control for multi-agent systems based on multi-layer network and semi-signed directed graph

Distributed containment control for asynchronous discrete-time second-order multi-agent systems with switching topologies

In this paper, the bipartite containment control problem of multi-agent systems (MASs) with unknown disturbances is studied. At first, a signed undirected graph is used to describe the Cooperative-Antagonistic interaction among the agents. Different from some conventional results of convergence in the infinite time domain, the control protocol proposed in this paper achieves the fixed-time convergence, and applies the fixed-time control and bipartite consensus to the containment control, making the proposed control protocol more practical. In addition, this paper also considers the existence of external disturbances and a novel fixed-time bipartite containment control protocol is proposed to eliminate them. Then, the stability analysis under the control protocol is completed by using the Lyapunov theory and mathematical theorem. Finally, the effectiveness of the proposed control scheme is verified by some simulation examples.

This paper investigates the distributed containment control problem for a class of general second-order multiagent systems with switched dynamics, which is composed of a continuous-time (CT) subsystem and a discrete-time (DT) subsystem. For this switched multiagent system under fixed directed topology, a distributed containment control protocol is proposed for each follower based on the relative local measurements of neighboring followers and leaders. Some necessary and sufficient conditions are derived under the condition that the network topology contains a directed spanning forest, and these conditions ensure that the general second-order containment control problem can be solved under arbitrary CT-DT switching. If the general second-order system is reduced to the double integrator system, some simpler containment conditions are presented. Furthermore, the similar results are also obtained under switching directed topology. Finally, some simulation examples are presented to show the efficiency of the theoretical results.

In this article, the containment control problem of multiagent systems (MASs) with active leaders under a directed communication graph is addressed. A novel pull-based event-triggered protocol combined with aperiodic sampled-data mechanism is first presented, where each agent merely updates controller at its own triggering instants. Under the proposed control protocols, the information is only exchanged and calculated at the aperiodic sampling instants, therefore, it can reduce communication congestion and save computing resources. Furthermore, the Zeno behavior is naturally excluded because the trigger instants are in the set of aperiodic sampled instants. By virtue of the algebraic graph theory and Lyapunov stability analysis, it is shown that the active leaders can reach their desired states predefined arbitrarily and all followers are driven to the convex hull formed by the leaders. Finally, an illustrative example is given to validate the theoretical results and emphasize the advantages of the proposed protocols.

This paper investigates the containment control problem for multi-agent systems based on the broadcast gossip algorithm, in which only one agent wakes up in the light of the asynchronous time model at each time and sends its information, and one part of the remaining agents get the message to update their states while the other part keep the states unchanged. We equivalently transform the algorithm into a mathematical model with the matrix-vector form, then conduct a detailed theoretical analysis for the mathematical model by utilizing tools including graph theory and stochastic matrix. Then, we establish a necessary and sufficient algebraic graph condition to ensure that every follower gradually enters the convex hull spanned by the leaders. Finally, we give a numerical example to argument the validity of theoretical result.

Aiming at the distributed containment control problem for multi-agent robotic system with stationary leaders, a position-sensorless control strategy is proposed based on binocular visual servo and feedback dissipative Hamilton theory. Firstly, the topological relationship among the robots is built by using directed graph, which makes each follower determine its neighbour robots. Secondly, a binocular visual servo model is established, so as to describe the dynamic information of the tracking target point for each follower through the neighbour robots' image information. Thirdly, the distributed containment controllers are designed based on the pre-feedback control strategy and feedback dissipative Hamilton theory; furthermore, in the case that each follower is not equipped with internal position sensor, the full-order state observers are developed by using the 'expansion + feedback' method, and then realise the position-sensorless control. Finally, a simulation is carried out on multiple two degrees-of-freedom (DOF) robots, and results show the validity of the proposed control strategy.

This article proposes a distributed adaptive fault-tolerant formation-containment control with prescribed performance for heterogeneous multiagent systems (MASs) consisting of multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) in the presence of actuator faults. First, utilizing the neighborhood formation error information, the distributed fault-tolerant formation control strategy is developed for the trajectory dynamics of each UAV to achieve the formation tracking, that is, all UAVs track the virtual leader and perform the prespecified formation configuration. Then, the adaptive fault-tolerant containment algorithm, independent of the positions of the leaders, is proposed to guarantee the UGVs converge to the convex hull formed by the leader UAVs. The adaptive estimation scheme is constructed to compensate for the unknown system parameters and actuator loss-of-effectiveness and bias faults. The formation-containment tracking performance is analyzed based on Lyapunov theory with the synchronization errors satisfying the prescribed performance. A simulation example based on UAVs-UGVs systems is adopted to verify the effectiveness of the proposed control strategy.

This study is concerned with the problem of cooperative formation‐containment control (CFCC) for networked Euler–Lagrange systems under a directed graph. Compared with the distributed containment control problem, CFCC problem is a new problem in the community of multi‐agent systems as the control for leaders' formation is further considered. By introducing the desired relative distance between agents into the auxiliary variables, the formation control algorithms are designed firstly for multiple leaders to reach a constant configuration. Then, the distributed containment control algorithms are designed for the followers such that all followers asymptotically converge to the convex hull spanned by the leaders. In the proposed algorithms, the relative velocity information is not required for the agents' controller design. Moreover, to reduce the dependence on system global information, the control gains in the algorithms are changing adaptively using only local information. Finally, simulation results are provided to illustrate the effectiveness of the obtained theoretical results.

This article studies the model-independent distributed containment control problem for multiple Euler-Lagrange systems (MELSs) considering external disturbances and system uncertainties. First, we design a virtual network and propose a controller for all virtual nodes moving to the convex hull formed by all leaders. Then, we propose an adaptive tracking algorithm which combines a continuous robust integral of the sign of the error (RISE) feedback element and a neural network-based (NN-based) feedforward element to guarantee that each follower semi-globally asymptotically track the state of the corresponding virtual node. Apart from this, a smooth projection algorithm is ulitized to ensure that training values of NN weight matrices are bounded. Hence, the MELSs can achieve containment control. Furthermore, criteria for addressing the above model-independent containment control problem are given by the theoretical derivation. Finally, the correctness of the presented model-independent containment control method is checked out by a numerical simulation.

This paper investigates the containment control problem of multi-agent systems with semi-Markovian switching topologies. Different from the related works, this paper considers a more general case that the control inputs of leaders are nonzero, the sojourn time distributions of the semi-Markovian switching topologies are mode transition-dependent, and the states of agents are not measurable. Reduced-order observer-based control protocols are proposed, respectively, for two cases that the transition rates are completely known and partially unknown, which ensures that the containment of the multi-agent systems can be achieved in the mean square sense. Finally, simulation examples are given to illustrate the validity of the theoretical results.

This paper investigates the event-based prescribed performance fuzzy adaptive containment control problem for multi-agent systems with unknown control direction and sensor faults. In the proposed control strategy, the tracking error can converge to the prescribed boundary by designing a performance function. An adaptive faults compensation scheme is introduced to handle sensor faults. In addition, the technology of Nussbaum-type function is employed to cope with the difficulty of unknown control gains. Moreover, by utilizing the Lyapunov stability theory, it is proven that the developed control method can ensure all the signals of closed-loop system are semi-globally uniformly ultimately bounded. Finally, the effectiveness of the developed strategy is verified by some simulation results.KeywordsMulti-agent systemsEvent-triggered containment controlPrescribed performance controlUnknown control directionSensor faults

Distributed containment control with multiple stationary or dynamic leaders in fixed and switching directed networks

In this article, an adaptive fault-tolerant control (FTC) method and a fractional-order dynamic surface control (DSC) algorithm are jointly proposed to deal with the stabilization problem for a class of multiple-input-multiple-output (MIMO) switched fractional-order nonlinear systems with actuator faults and arbitrary switching. In each MIMO subsystem and each switched subsystem, the neural networks (NNs) are utilized to identify the complicated unknown nonlinearities. A fractional filter DSC technology is adopted to conquer the issue of "explosion of complexity," which may occur when some functions are repeatedly derived. The common Lyapunov function method is used to restrain arbitrary switching problems in the system, and the actuator compensation technique is introduced to tackle the failure faults and bias faults in the actuators. By combining the backstepping DSC design technique and fractional-order stability theory, a novel NN adaptive switching FTC algorithm is proposed. Under the operation of the proposed algorithm, the stability and control performance of the fractional-order systems can be guaranteed. Finally, a simulation example of a permanent magnet synchronous motor (PMSM) system reveals the feasibility and effectiveness of the developed scheme.