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In this paper, we primarily address the impact on consensus of multi-agent systems by incorporating the equality constraint. Both linear and certain form of nonlinear constraints are considered. In order to visualize the impact, the convergence rate over a strongly connected graph is proposed for both proposed linear and nonlinear consensus algorithms. In addition, for certain cases, the consensus...
Natural systems are undeniably affected by noises. How noise affects the collective behavior of self-organized systems has attracted wide interest from various fields in the past several decades. To describe the collective motion of multiple interacting particles, Vicsek et al. proposed a well-known self-propelled particle(SPP) system and conjectured it exhibited a second order phase transition from...
In this paper, we study the cooperative robust output regulation problem of a class of heterogeneous minimum phase linear uncertain multi-agent systems with the arbitrary nonidentical relative degree via the output feedback control. We will propose a novel distributed observer to estimate the system state that contains two distinct parts, where the first part is of the distributed form to estimate...
This paper considers the distributed consensus tracking problem for multi-agent systems with unknown nonlinearities in the followers. Based on parameterizing the nonlinearities of all followers, distributed adaptive consensus protocols with dynamic coupling gains are designed with the relative output information which are more practical than the state-feedback ones. The protocols guarantee that the...
This paper studies the robust stabilization problem for nonlinear multi-agent systems with unity relative degree by a distributed switched control law. The problem is motivated from the cooperative global robust output regulation problem for the class of nonlinear multi-agent systems in normal form with unity relative degree under switching networks which was studied recently by assuming that some...
This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a...
In this paper, the problem of stabilizing two agents with a beacon into a triangular formation is studied, in which the beacon is static and the specified triangle is characterized only by interior angles constraints. Assuming that each agent can measure the bearing of the beacon in its local frame. Meanwhile, the two agents neighbor each other, that is, they communicate with each other so that they...
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear agent dynamics, and an exosystem whose output is available to only a subset of agents. By using a distributed adaptive observer for the agents to estimate the exogenous signal, a distributed adaptive controller is designed. Compared with the existing...
In this paper, bipartite consensus behavior of multiple agents in networked systems with single-integrator dynamics under directed signed graphs is investigated. It is assumed that the agents can be classified into two antagonistic groups such that the interactions between agents belonging to the same group are cooperative, while interactions between agents belonging to different groups are antagonistic...
Motivated by the cooperative control theory of multi-agent systems, we study the distributed secondary voltage and frequency control problem in a lossy droop-controlled autonomous microgrid. At first, a distributed cooperative control algorithms is designed to synchronize the voltage of each generation unit to the reference value in finite time. We then provide a frequency control protocol and present...
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