Semiglobal Observer-Based Leader-Following Consensus With Input Saturation

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 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.

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.

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.

In this paper, we develop control algorithms for addressing second-order consensus problems in intrinsically second-order nonlinear multi-agent dynamical systems with switching topologies. The proposed adaptive controller applies a leader-following strategy in which all agents are assumed to be informed of the leader's state. Another feature of this work which specifically distinguishes it from others is that the proposed controller uses undirected and directed graphs to accommodate for a full range of possible graph information topologies without limitations of bidirectional communication.

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.

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.

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 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.

For a linear system that has a pole in the open right-half plane and is subject to actuator saturation, global asymptotically stabilization cannot be achieved. As a result, a multi-agent system containing such an actuator saturating agent can only reach regional consensus, that is, consensus can be achieved only when the initial state of each agent resides in a region of the state space. The region of all these initial states is referred to as the domain of consensus. In general, the domain of consensus cannot be exactly characterized. In this paper, we consider the problem of estimating the domain of consensus of a multi-agent system with an agent subject to actuator saturation. A set of necessary and sufficient conditions under which an ellipsoidal set can be used as an estimate of the domain of consensus are established. Based on these conditions, an LMI-based optimization problem is formulated for obtaining the largest ellipsoidal estimate of the domain of consensus. Simulation results illustrate the effectiveness of the proposed approach and show the relationship between the size of the largest ellipsoidal estimate and the communication topology of the multi-agent system.

Secure consensus for PDEs-based multiagent systems under DoS attacks via boundary control approach

In this paper, leader-following consensus problem is addressed for general linear multi-agent systems with communication delays. A novel hybrid event-triggering mechanism is developed without requiring continuous communication among follower agents. The multi-agent systems are firstly described as a closed-loop system with both flow dynamics and jump dynamics. Then, by introducing several auxiliary variables, a hybrid model of the multi-agent systems is constructed under hybrid systems framework. Based on this hybrid model, we present how to construct Lypaunov function, and the decentralized event-triggering conditions design is also developed. An application example is provided to show the effectiveness of the proposed approach.

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.

This paper is concerned with distributed leader-following consensus for multi-agent systems under cloud control. A cloud-based control framework is first proposed, where each agent has the ability to upload and download from clouds via a communication network. In this model, a cloud-based distributed consensus control protocol under an undirected graph is proposed to ensure that followers in the system can follow the leader asymptotically. By establishing a new Lyapunov functional, the cloud-based delay-dependent stability condition for leader-following consensus is obtained. Then, based on this condition, the controller gain matrix is obtained by solving LMI. Finally, an simulation example is carried out to verify the validity of the results.KeywordsCloud-based consensusLeader-following consensusMulti-agent systemsCommunication delay