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In this paper, leader-following consensus of the discrete-time heterogenous multi-agent system with bounded communication delays is studied. The heterogeneous multi-agent system is composed of first-order and second-order integrator agents. By applying the graph theory and the algebra theory, sufficient consensus criteria are obtained to guarantee that each agent can track the leader. Despite there...
A key problem in event-triggered control of multi-agent systems is to design triggering conditions. We first give an overview of existing triggering conditions used in the literature. However, not all existing triggering conditions can both relax continuous communication between neighboring agents and admit a positive lower bound of inter-event times. Then, we propose two new triggering conditions...
This paper is concerned with cooperative output regulation of heterogeneous multi-agent systems. Agents are allowed to be heterogeneous general linear time-invariant systems and the communication graph is not restricted to the acyclic type. New distributed state-feedback controllers with extra scalar parameters are constructed. A global sufficient solvability condition is first derived and simplified...
We study a distributed constrained optimal consensus problem of discrete-time multi-agent systems under fixed communication delays. Specifically, the total cost is expressed as the sum of individual cost of each agent, and only part of agents have access to the constraint. The constrained optimal consensus is solved if the final consensus value falls within the constraint, and in the meanwhile minimizes...
Formation control problems for linear multi-agent systems with switching and directed topologies are investigated. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is presented to design the formation control protocol. The stability of the proposed algorithm is proven using the piecewise Lyapunov function theory. It is obtained that...
In this paper, the output containment control problem of heterogeneous linear multi-agent systems is investigated. The objective of the output containment control problem is to make a group of agents converge to a convex hull spanned by some leaders. A distributed control law based on output regulation framework is proposed, where a distributed observer is designed in the control law for agents estimating...
This paper studies the distributed controller design for multi-agent systems (MASs) with stochastic upper-triangular nonlinear dynamics under the directed network topology. By developing the distributed low-gain homogeneous domination method, distributed controllers are designed. By using the algebraic graph theory and stochastic analysis method, it can be proved that the followers can achieve mean...
The fixed-time synchronization problem fsor a class of second-order nonlinear multi-agent systems with a leader-follower architecture is investigated in this paper. To achieve the fixed-time tracking, the design procedure is divided into two steps. At the first step, a distributed fixed-time estimator is designed for each agent to estimate the leader's state in a fixed time. Then, at the second step,...
This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent...
In this brief, a novel impulsive control has been proposed for consensus problems of discrete-time multi-agent systems. Utilizing the Lyapunov technique, a parametric discrete-time Riccati equation has been obtained in order to design impulsive controller. The derived criteria show that such impulsive control relies on the proper value of designed parameters and the upper bound of impulsive intervals...
This paper investigates the antagonistic consensus problem of a class of second-order multi-agent systems with fixed topology. A distributed consensus control algorithm is proposed for each agent to realize the four-group antagonistic consensus. A sufficient condition is derived to ensure that all agents make a four-group antagonistic motion in a distributed manner. It is shown that all agents can...
In this paper, the adaptive consensus disturbance rejection problem is considered for the liner multi-agent systems under directed graphs. Based on the relative state information of the neighboring agents, the consensus protocols, including a state observer and a disturbance observer, are designed to guarantee that the consensus error goes to zero with the complete disturbance rejection. Furthermore,...
In this paper, a distributed adaptive control scheme is proposed for nth order multi-agent systems with pure integrator type of subsystem dynamics. It is assumed that the information transmission condition among different subsystems is represented by a fixed, balanced and weakly connected directed graph. The full knowledge of desired trajectory is allowed totally unknown by part of the subsystems,...
This paper mainly investigates event-triggered tracking control problem for second-order discrete-time multi-agent systems with directed fixed and switching topologies. Event-triggered sampling control strategies are designed to reduce the frequency of actuator updating for agents with limited energies when their measurement error exceeds a threshold. For the case of fixed topology, a necessary and...
In this paper, the consensus problem for linear multi-agent systems subject to non-uniform time-varying communication delays and jointly connected switching networks is investigated. Both distributed dynamic state feedback control law and distributed dynamic output feedback control law are proposed. By establishing some technical lemmas, it is shown that the proposed distributed control laws can solve...
In this paper, the distributed control of micro-grids is regarded as the consensus problem for a class of nonlinear multi-agent systems. An effective distributed adaptive control strategy is proposed based only on local information of the network structure. Dynamics of agents are assumed to be unknown and estimated by Neural Networks. The leader is ultimately followed by the followers with bounded...
This paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.
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