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In this paper, a coordinated tracking control problem is studied for coupled nonholonomic mobile robots with limited information of a reference trajectory. A distributed control law with adaptive time-varying gains is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track the reference signal. By designing the adaptive...
In this paper, we solve a leader-following problem for second-order integrator systems using only binary relative position and velocity measurements. The leader is allowed to be dynamically evolving with a bounded acceleration which is unknown to any of the followers. By properly choosing the control gains, we prove that despite the fact that only very coarse relative information is available, the...
This paper considers the problem of distributed node-to-node consensus for general linear multi-agent systems with switched pinning links. The control goal in the present work is to make each follower track the corresponding leader asymptotically under the condition that only a small fraction of followers can sense their corresponding leaders through some switched communication channels. By using...
This paper studies the mean square and almost sure consensus of discrete-time linear multi-agent systems with communication noises under Markovian switching topologies. By a sophisticated stochastic-approximation type protocol, the closed-loop dynamics of this linear multi-agent system can be transformed into a discrete-time first-order integral multi-agent system. It is proved that if all roots of...
In this paper we investigate the cooperative output regulation problem of linear multi-agent systems with a switched exosystem which is assumed that some subsystems are Hurwitz stable, some are neutral stability, and the others are unstable. We will deal with two difficulties in the paper. One is the complexity of the switched exosystem trajectory. The other is the limited information exchanges of...
The paper investigates the second-order leader-following consensus problem of nonlinear multi-agent systems with time-varying delay. Based on graph theory and the neighbor-based coupling rule, the adaptive control strategy is proposed for the following agents to track the leader, the consensus condition is derived in terms of linear matrix inequalities, which can be easily solved by various convex...
The paper investigates the second-order leader-following consensus problem of nonlinear multi-agent systems via adaptive pinning control. Based on graph theory and the neighbor-based coupling rule, the adaptive pinning control strategy is proposed, the consensus condition is derived in terms of linear matrix inequalities. It is worth noting that this paper addresses that what kind of agents and how...
This paper considers the distributed robust consensus problem of multi-agent systems with Lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information...
In this paper, distributed containment control problems of the second-order multi-agent systems under the undirected communication topology are investigated. Based on the LaSalle's Invariance Principle and the control protocols proposed in this paper, some necessary and sufficient conditions for the achievement of containment control are respectively proposed in the presence of multiple stationary...
This paper is devoted to the consensus problem of multi-agent systems with inherent nonlinear dynamics. To reflect the practical environment of multi-agent systems, the communication topology is assumed to switch slowly within a finite set of directed topologies restricted by an average dwell time switching signal. By taking advantage of tools from switched systems and piecewise Lyapunov functions,...
This paper studies the synchronization problem of multi-agent systems with nonlinear dynamics in mean square. It is supposed that the measurement of relative-state is disturbed. For the nonlinear multi-agent systems, we show that the conventional consensus protocols are robust against the measurement noises which are dependent to the relative-state. Simulations are provided to demonstrate the theoretical...
In this paper, the consensus problem of a class of high order multi-agent systems is studied. We supposed the multi-agent can only exchange information only accord to a directed communication graph. By using the relative state consensus algorithm, a sufficient condition is provided for consensus achievement. Then, a new consensus protocol which using a state observer is provided. The N observer and...
In this paper, we mainly study finite-time input-to-state-stability (finite-time ISS) for the multi-agent systems with communication noise under switching interaction topologies, using the method of ISS, finite-time finite-time ISS-Lyapunov function.
This paper investigates a distributed nested rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed for each agent to realize the rotating consensus. Firstly, the local state feedback guarantees the circular motion and then the distributed relative state feedback guarantees the consensus of all agents...
In this paper, the consensus problem of second-order multi-agent systems with nonuniform time-delays and dynamically changing topologies is studied. A linear consensus protocol with nonuniform time-delays is developed for multi-agent systems. A sufficient condition in terms of linear matrix inequalities is established to solve the consensus problems under dynamically changing topologies (even when...
The consensus of double-integrator discrete-time multi-agent system is studied based on the second-order neighbors' information in this paper. The comparison between the convergence rate of second-order neighbor protocol and the one of general protocol is analyzed. Considering there exists delay in communication, the consensus condition of double-integrator discrete-time multi-agent system with delay...
This work investigates the cooperative controller design problem for multi-agent systems in the presence of actuator failures. We first provide an actuator fault detection algorithm. Then, a robust fault-tolerant protocol is presented to achieve the synchronization and tracking control of multi-agent systems. The controllers are locally distributed in the sense that the controller designed for each...
In this paper, the formation tracking problem of multi-agent system via impulsive control approach is investigated, where each agent can be modeled as an identical nonlinear oscillator. The impulsive control approach is firstly applied to the study of formation tracking problem in the multi-agent system. The objective of the formation tracking problem is to design the formation tracking protocol such...
This paper considers the second-order consensus problem of discrete-time multi-agent systems over fixed and undirected network topologies. A distributed consensus protocol utilizing the current and one-step delayed position information is proposed. It is interesting to found that second-order consensus in such a discrete-time multi-agent system cannot be ensured without any one-step delayed position...
The concept of cloud manufacture has been purposed to solve the problem of manufacture waste. Characteristics and operating mechanism of CMfg is analyzed in this paper. Fuzziness and distributive of the Multi-agent system can meet the requirements of building CMfg platform. On the basis of the theory mentioned above, this paper proposed an architecture of CMfg based on multi-agent technology. At last,...
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