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This paper studies a kind of group consensus problem for fractional-order multi-agent system(MASs). For leaderless MASs, We propose a distributed consensus algorithm under a bipartite graph. Based on the given dynamics, the agents are divided into two groups, each group can reach a steady state value and the steady state values of the two groups are different. Simulation examples are presented to...
Estimating the graph structure plays an important role in the emerging field of signal processing on graph (SPoG). A graph acts as a filter when a signal propagates on it with the frequency response being a polynomial of the eigenvalues of the graph Laplacian matrix. In this paper, we endeavor to learn the underlying graph structure (a.k.a. graph connectivity) from stationary graph signal observations...
This paper studies a distributed dynamic resource allocation problem for a multi-agent network with a strongly connected digraph, which has increased an equality constraint for individual node requirement from the point of dynamic prediction horizon. Each agent at each prediction horizon in the network is associated with a local resource and a quadratic convex cost function. The goal is to minimize...
This paper studies the consensus problem of a first-order multi-agent system by using event-based strategy. For each agent, both of the control law and the triggering function utilize estimated combinational measurement, which is calculated based on the combinational measurement that sampled at the agent's event instant. The distributed triggering function is developed to compute these instants. Only...
In this paper, we study the event-triggered consensus problem for heterogeneous multi-agent systems with general linear dynamics under a general directed graph. As the states of each agent are unavailable, we propose a decentralized event-triggered consensus control strategy based on observer and internal model principle such that the outputs of all agents achieve consensus, without requiring continuous...
This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown...
Adaptive consensus design problems for swarm systems with Lipschitz nonlinear dynamics are investigated. An adaptive consensus protocol based on state errors is proposed to obtain adaptive consensus. By using a state decomposition method, adaptive consensus problems of a swarm system are transformed into the asymptotic stabilization problems of a reduced-order subsystem. Then, the structure property...
Distributed formation control of Unmanned Aerial Vehicle (UAV) in three-dimensional space is discussed in this paper. In order to achieve a faster consensus seeking, a consensus-based cooperative formation control strategy with the tow-hop relay protocol is proposed. UAV's nonlinear kinetic model is transformed into linear model by feedback linearization and the original control inputs are also transformed...
In this paper, fully distributed time-varying formation tracking problem for general linear time-invariant (LTI) multi-agent systems is investigated by using an adaptive-based approach. The communication topology is a spanning tree in which a leader's output is available to only a subset of the agents (followers) among which the communication is undirected. The followers can form a time-varying formation...
This paper investigates the event-triggered consensus for linear continuous-time uncertain multi-agent systems. The parameter uncertainty is assumed to be time-varying but norm-bounded. An event-triggered consensus protocol is proposed based on the predictive method to make the multi-agent system achieve consensus without continuous communication among agents. A necessary and sufficient condition...
In this paper, we consider the leader-follower consensus problem of multi-agent systems governed by second order dynamics with nonlinear terms. Taking into account the external disturbances, a leader-follower consensus tracking algorithm for each agent with high-order sliding mode control method is proposed to make all the followers track the leader. Then we prove that each agent can follow the leader...
The event-triggered cooperative output regulation problem of linear multi-agent systems has been addressed under the assumption that the system matrix of the exosystem is known to all agents in previous studies. To remove the assumption, this paper proposes an event-triggered adaptive distributed observer, which is designed to estimate the system matrix of the exosystem. With the proposed triggering...
This paper researches the consensus problem for networked control system consisting of multiple simple-pendulums driven by corresponding DC motors. First, under the condition that the partial state information of the multiple simple-pendulums system is not available, we propose a consensus control protocol based on relative output feedback, which simplifies the consensus problem. At the same time,...
The containment control problem for general discrete-time second-order multi-agent systems is investigated in this paper. Based on a distributed containment control algorithm with the state gain parameters in a given range, we transform the system to an equivalent error system, and then analyze the convergence of the error system by the eigenvalues of the corresponding coefficient matrix. Finally,...
This paper considers the consensus problem of heterogeneous multi-agent systems with switching communication topology. By introducing adaptive coupling gains for each edge, a novel edge-based adaptive consensus protocol is designed. A significant feature of the proposed protocol is that it contains an integral action to eliminate the steady state error, which play a crucial role in achieving consensus...
The consensus problem of time-delayed multi-agent systems under switching topologies is investigated. Event-triggered consensus algorithms are proposed to reduce times of both network communication and control updates. Moreover, the judgements of events are based on periodic sampling data, which guarantees that the Zeno behavior which is often a challenge in event-triggered consensus investigation...
A convex optimization problem, which needs to minimize the sum of agents' cost function with equality constraints, is investigated in this paper. We provide a novel event-triggered distributed scheme to solve the equality constrained optimization problem based on consensus theory of multi-agent systems. While the event-triggered scheme is incorporated into the distributed algorithm, some sufficient...
This paper focus on the admissible consensus problem for a class of singular discrete-time multi-agent systems. Based on graph, algebra and singular system theory, the consensus protocol of static output feedback form is proposed and designed. Sufficient and necessary conditions are obtained to solve the consensus problem for singular discrete-time multi-agent systems. The conditions depend on the...
This paper investigates the optimal consensus problems of both continuous-time and discrete-time multiagent systems based on the proposed global cost functions. Based on the LQR perspective and the the proposed global cost functions, we derive the optimal consensus protocols and the optimal topologies for both the continuous-time and discrete-time multiagent systems cases. The results shows that the...
In this paper, an optimal energy cost controller for linear multi-agent systems' consensus is proposed. It is assumed that the topology among the agents is fixed and the agents are connected through an edge-weighted graph. The controller only uses relative information between agents. Due to the difficulty of finding the controller gain, we focus on finding the optimal controller among a sub-family...
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