Quantised consensus of multi-agent systems with nonlinear dynamics

Quantized consensus of second-order multi-agent systems via impulsive control

Distributed synchronization of delayed dynamic networks under asynchronous delay-dependent impulsive control

In practice, there exist such controlled systems in which some states are often not available, not measurable or too expensive to measure. For such systems, impulsive control inputs may be exerted on the available partial states so as to stabilize the underlying systems. This paper is concerned with analyzing the stability of a class of nonlinear time-delay systems with partial states subject to impulsive inputs. The main idea is that the entire impulsively controlled system can be viewed as a hybrid one that is composed of a stable continuous subsystem and a stable impulsive subsystem. Then the analysis technique based on the new time-varying weighted Lyapunov functional/function introduced is utilized to derive sufficient conditions for exponential stability of such systems. As an illustration of the utility of the new stability criteria, the batch reactor system with the try-once-discard protocol is examined.

Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation.

The Specifics of Closed-Loop Impulse Control

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.

In this letter, leader-following consensus of a nonlinear MASs satisfying Lipschitz conditions with partial actuator saturation constraints is investigated First of all, an impulse control protocol which only requires local information of agents and their neighbors is proposed. Then, using Lyapunov stability theory, impulse control theory, and algebraic graph theory, sufficient conditions for the consensus of multi-agent systems are provided. Ultimately, numerical simulations are employed to show that the research findings are accurate.

A generalized proportional Caputo fractional model of multi-agent linear dynamic systems via impulsive control protocol

In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensus protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results.

This paper investigates the leaderless and leader-following consensus problem for a second-order multi-agent systems with input saturation, i.e., the control input is required to be priori bounded. Moreover, the control coefficients are unknown and cannot be lower or upper bounded by known constants. By virtue of adaptive control technique, Lyapunov theory, algebraic graph theory and Barbalat's lemma, it is proved that the states of the multi-agent systems can achieve consensus under the assumption that the interconnection topology is undirected and connected. Finally, two simulation examples are provided to illustrate the effectiveness of the theoretical results.

Scaled consensus of second-order nonlinear multi-agent systems with distributed adaptive control via non-reduced order method

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 interval consensus problem of second-order multi-agent systems over a directed graph, where each agent is allowed to propose an interval constraint on the achievable consensus value. In order to reduce the communication among agents, a distributed impulsive controller is given. The impulsive control is implemented only at impulsive instants. Moreover, each agent has its own impulsive instants independently and the impulsive intervals are aperiodic. Sufficient conditions are established to guarantee the achievement of interval consensus for the considered systems. Finally, a numerical example is presented to demonstrate the effectiveness of the obtained result.

This technical note introduces a novel design approach to address the leader-following consensus problem in linear multi-agent systems (MASs) through distributed impulsive control. First, robust stability criteria are established for a class of linear impulsive systems with parametric input matrix. These criteria are then applied to the design of the distributed impulsive controller. The proposed design approach decouples the design of the impulsive control gains from the detailed graph properties, making it applicable to a class of communication networks. Furthermore, the state feedback results are extended to the output feedback case by constructing a distributed impulsive observer-based controller. In both scenarios, it is demonstrated that the novel impulsive controller/observer developed at the individual agent level can also be utilized to achieve leader-following consensus for a class of linear MASs, provided that the relationship between the dynamics of the individual agents and the graph properties satisfies a certain condition. Finally, the efficiency and the scalability of the theoretical results are verified through two illustrative examples.

Second-order consensus of multi-agent systems with nonlinear dynamics via impulsive control