The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform

Jie Huang - One of the best experts on this subject based on the ideXlab platform.

  • cooperative output regulation problem for linear time delay Multi Agent Systems under switching network
    Neurocomputing, 2016
    Co-Authors: Maobin Lu, Jie Huang
    Abstract:

    In this paper, we study the cooperative output regulation problem for linear time-delay Multi-Agent Systems subject to jointly connected switching network. We first establish two lemmas that lay the foundation for solving the problem and then present the solution to the problem by both the dynamic state feedback control law and the dynamic measurement output feedback control law. Our results not only extend the existing results on linear Multi-Agent Systems without time-delay to linear time-delay Multi-Agent Systems, but also lead to the solution of the leader-following consensus problem of some typical linear time-delay Multi-Agent Systems.

  • cooperative global robust output regulation for nonlinear Multi Agent Systems in output feedback form
    Journal of Dynamic Systems Measurement and Control-transactions of The Asme, 2014
    Co-Authors: Yi Dong, Jie Huang
    Abstract:

    In this paper, we consider the global robust output regulation problem for a class of nonlinear Multi-Agent Systems by distributed output feedback control. We first show that the problem can be converted into the global stabilization problem of a class of Multi-input, Multi-output nonlinear Systems called augmented system. Then, we further show that, under a set of standard assumptions, the augmented system can be globally stabilized by a distributed output feedback control law. Finally, we apply our approach to solve a leader-following synchronization problem for a group of Lorenz Multi-Agent Systems.

  • cooperative global output regulation of heterogeneous second order nonlinear uncertain Multi Agent Systems
    Automatica, 2013
    Co-Authors: Youfeng Su, Jie Huang
    Abstract:

    In this paper, we study the cooperative global output regulation problem for a class of heterogeneous second order nonlinear uncertain Multi-Agent Systems. We first introduce a type of distributed internal model that converts the cooperative global output regulation problem into the global robust stabilization problem of the so-called augmented Multi-Agent system. Then we further globally stabilize this augmented Multi-Agent system via a distributed state feedback control law, thus leading to the solution of the original problem. A special case of our result leads to the solution of the global leader-following consensus problem for the second order nonlinear Multi-Agent Systems without satisfying the global Lipschitz condition.

  • cooperative output regulation of linear Multi Agent Systems
    IEEE Transactions on Automatic Control, 2012
    Co-Authors: Jie Huang
    Abstract:

    In this technical note, we consider the cooperative output regulation of linear Multi-Agent Systems. The overall system consists of two groups of subSystems. While the first group of subSystems can access the exogenous signal, the second cannot. As a result, the problem cannot be solved by the decentralized approach. By devising a distributed observer, we can solve the problem by a dynamic full information distributed control scheme. The problem can also be viewed as a generalization of some results of the leader-following consensus problem of Multi-Agent Systems.

Guanrong Chen - One of the best experts on this subject based on the ideXlab platform.

  • network based leader following consensus of nonlinear Multi Agent Systems via distributed impulsive control
    Information Sciences, 2017
    Co-Authors: Guanrong Chen, Qinglong Han, Feng Qian
    Abstract:

    Abstract This paper investigates the problem of network-based leader-following consensus of nonlinear Multi-Agent Systems via distributed impulsive control. First, by taking network-induced delays into account, a nonlinear system with delayed impulses is formulated. Then, a general consensus criterion is derived and several special cases of network-induced delays and network topologies are discussed. Moreover, sufficient conditions on the design of the sampling period, pinned nodes and the coupling strength are provided. The effects of the coupling strength and pinning strategy are further explored for Multi-Agent Systems with an undirected communication graph. Finally, two examples are given to verify the theoretical results.

  • distributed consensus of Multi Agent Systems with general linear node dynamics and intermittent communications
    International Journal of Robust and Nonlinear Control, 2014
    Co-Authors: Guanghui Wen, Wei Ren, Zhisheng Duan, Guanrong Chen
    Abstract:

    SUMMARY Without assuming that the mobile Agents can communicate with their neighbors all the time, the consensus problem of Multi-Agent Systems with general linear node dynamics and a fixed directed topology is investigated. To achieve consensus, a new class of distributed protocols designed based only on the intermittent relative information are presented. By using tools from matrix analysis and switching Systems theory, it is theoretically shown that the consensus in Multi-Agent Systems with a periodic intermittent communication and directed topology containing a spanning tree can be cast into the stability of a set of low-dimensional switching Systems. It is proved that there exists a protocol guaranteeing consensus if each Agent is stabilizable and the communication rate is larger than a threshold value. Furthermore, a Multi-step intermittent consensus protocol design procedure is provided. The consensus algorithm is then extended to solve the formation control problem of linear Multi-Agent Systems with intermittent communication constraints as well as the consensus tracking problem with switching directed topologies. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. Copyright © 2013 John Wiley & Sons, Ltd.

  • distributed control gains design for consensus in Multi Agent Systems with second order nonlinear dynamics
    Automatica, 2013
    Co-Authors: Wei Ren, Wei Xing Zheng, Guanrong Chen
    Abstract:

    Abstract This paper discusses the design of distributed control gains for consensus in Multi-Agent Systems with second-order nonlinear dynamics. First, an effective distributed adaptive gain-design strategy is proposed based only on local information of the network structure. Then, a leader–follower consensus problem in Multi-Agent Systems with updated control gains is studied. A distributed adaptive law is then proposed for each follower based on local information of neighboring Agents and the leader if this follower is an informed Agent. Furthermore, a distributed leader–follower consensus problem in Multi-Agent Systems with unknown nonlinear dynamics is investigated by combining the variable structure approach and the adaptive method. Finally, simulation examples are given to illustrate the theoretical analysis.

  • distributed consensus control for linear Multi Agent Systems with discontinuous observations
    International Journal of Control, 2013
    Co-Authors: Guanghui Wen, Zhisheng Duan, Guanrong Chen
    Abstract:

    This article addresses the distributed consensus problem of linear Multi-Agent Systems with discontinuous observations over a time-invariant undirected communication topology. Under the assumption that each Agent can only intermittently share its outputs with the neighbours, a class of distributed observer-type of protocols are designed and utilised to achieve consensus. By using appropriate matrix decomposition, it is shown that consensus in the closed-loop Multi-Agent Systems under a connected topology can be converted to the simultaneous asymptotic stability of a set of switching Systems whose dimensions are the same as each Agent. From a Multiple Lyapunov functions approach, it is proved that there exists a protocol to guarantee consensus if the communication time rate is larger than a threshold value. Furthermore, a distributed pinning control method is employed to solve the consensus problem on an arbitrary given topology which needs not be connected. Particularly, the questions of what kind of agen...

  • distributed event triggered tracking control of leader follower Multi Agent Systems with communication delays
    Kybernetika, 2011
    Co-Authors: Guanrong Chen
    Abstract:

    As embedded microprocessors are applied widerly to Multi-Agent Systems, control scheduling and time-delay problems arose in the case of limited energy and computational ability. It has been shown that the event-triggered actuation strategy is an eective methodology for designing distributed control of Multi-Agent Systems with limited computational resources. In this paper, a tracking control problem of leader-follower Multi-Agent Systems with/without communication delays is formulated and a distributed dynamic tracking control is designed by employing event-triggered technique. Then, the input-to-state stability of the closed-loop Multi-Agent system with directed interconnections is analyzed. Finally, a numerical example is given to validate the proposed control.

Yisheng Zhong - One of the best experts on this subject based on the ideXlab platform.

  • output formation containment analysis and design for general linear time invariant Multi Agent Systems
    Journal of The Franklin Institute-engineering and Applied Mathematics, 2016
    Co-Authors: Xiwang Dong, Qingdong Li, Yisheng Zhong
    Abstract:

    Abstract Output formation-containment control problems for general linear time-invariant Multi-Agent Systems with directed topologies are dealt with. Output formation-containment means that the outputs of leaders achieve the predefined formation, and at the same time the outputs of followers converge to the convex hull formed by the outputs of leaders. Firstly, static output protocols are presented for leaders and followers respectively. Then output formation-containment problems of Multi-Agent Systems are transformed into asymptotic stability problems. Sufficient conditions with less computation complexity are proposed for Multi-Agent Systems to achieve the output formation-containment. An explicit expression for the time-varying output formation reference function is derived to describe the macroscopic movement of the whole output formation-containment. Explicit expressions to describe the relationship among the outputs of followers, the time-varying output formation for the leaders and the output formation reference are derived. It is proven that the outputs of followers not only converge to the convex hull formed by those of leaders but also achieve certain time-varying formation specified by the convex combination of the desired output formation for the leaders. Moreover, an approach to determine the gain matrices in the protocols is given for Multi-Agent Systems to achieve the output formation-containment. Finally, numerical simulations are provided to demonstrate the effectiveness of the theoretical results.

  • formation containment control for high order linear time invariant Multi Agent Systems with time delays
    Journal of The Franklin Institute-engineering and Applied Mathematics, 2015
    Co-Authors: Xiwang Dong, Qingdong Li, Yisheng Zhong
    Abstract:

    Abstract Formation-containment analysis and design problems for time-delayed high-order linear time-invariant Multi-Agent Systems with directed interaction topologies are studied. Firstly, protocols with time delays are presented for leaders and followers, where the formation for leaders can be time-varying. Then formation-containment problems for time-delayed Multi-Agent Systems are transformed into asymptotic stability problems of time-delayed Systems. Sufficient conditions for Multi-Agent Systems to achieve formation-containment are proposed, which include eight linear matrix inequalities independent of the number of leaders and followers. Furthermore, an explicit expression of the formation reference function for leaders is derived, where the motion modes of formation reference can be specified. An approach to determine the gain matrices in the protocols is given using the method of changing variables. Finally, numerical simulations are provided to demonstrate theoretical results.

Zhongping Jiang - One of the best experts on this subject based on the ideXlab platform.

  • event based leader following consensus of Multi Agent Systems with input time delay
    IEEE Transactions on Automatic Control, 2015
    Co-Authors: Wei Zhu, Zhongping Jiang
    Abstract:

    The event-based control strategy is an effective methodology for tackling the distributed control of Multi-Agent Systems with limited on-board resources. This technical note focuses on event-based leader-following consensus for Multi-Agent Systems described by general linear models and subject to input time delay between controller and actuator. For each Agent, the controller updates are event-based and only triggered at its own event times. A necessary condition and two sufficient conditions on leader-following consensus are presented, respectively. It is shown that continuous communication between neighboring Agents can be avoided and the Zeno-behavior of triggering time sequences is excluded. A numerical example is presented to illustrate the effectiveness of the obtained theoretical results.

  • event based consensus of Multi Agent Systems with general linear models
    Automatica, 2014
    Co-Authors: Zhongping Jiang, Wei Zhu, Gang Feng
    Abstract:

    In this paper, the event-based consensus problem of general linear Multi-Agent Systems is considered. Two sufficient conditions with or without continuous communication between neighboring Agents are presented to guarantee the consensus. The advantage of the event-based strategy is the significant decrease of the number of controller updates for cooperative tasks of Multi-Agent Systems involving embedded microprocessors with limited on-board resources. The controller updates of each Agent are driven by properly defined events, which depend on the measurement error, the states of its neighboring Agents and an arbitrarily small threshold. It is shown that the controller updates for each Agent only trigger at its own event time instants. A simulation example is presented to illustrate the theoretical results.

  • distributed output regulation of leader follower Multi Agent Systems
    International Journal of Robust and Nonlinear Control, 2013
    Co-Authors: Yiguang Hong, Xiaoli Wang, Zhongping Jiang
    Abstract:

    SUMMARY In this paper, distributed leader–follower control algorithms are presented for linear Multi-Agent Systems based on output regulation theory and internal model principle. By treating a leader to be followed as an exosystem, the proposed framework can be used to generalize existing Multi-Agent coordination solutions to allow the identical Agents to track an active leader with different dynamics and unmeasurable variables. Moreover, the obtained results for Multi-Agent coordination control are an extension of previous work on centralized and decentralized output regulation to a distributed control context. Necessary and sufficient conditions for the distributed output regulation problem are given. Finally, distributed output regulation of some classes of Multi-Agent Systems with switching interconnection topologies are discussed via both static and dynamic feedback. Copyright © 2011 John Wiley & Sons, Ltd.

Zhisheng Duan - One of the best experts on this subject based on the ideXlab platform.

  • distributed consensus of Multi Agent Systems with general linear node dynamics and intermittent communications
    International Journal of Robust and Nonlinear Control, 2014
    Co-Authors: Guanghui Wen, Wei Ren, Zhisheng Duan, Guanrong Chen
    Abstract:

    SUMMARY Without assuming that the mobile Agents can communicate with their neighbors all the time, the consensus problem of Multi-Agent Systems with general linear node dynamics and a fixed directed topology is investigated. To achieve consensus, a new class of distributed protocols designed based only on the intermittent relative information are presented. By using tools from matrix analysis and switching Systems theory, it is theoretically shown that the consensus in Multi-Agent Systems with a periodic intermittent communication and directed topology containing a spanning tree can be cast into the stability of a set of low-dimensional switching Systems. It is proved that there exists a protocol guaranteeing consensus if each Agent is stabilizable and the communication rate is larger than a threshold value. Furthermore, a Multi-step intermittent consensus protocol design procedure is provided. The consensus algorithm is then extended to solve the formation control problem of linear Multi-Agent Systems with intermittent communication constraints as well as the consensus tracking problem with switching directed topologies. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. Copyright © 2013 John Wiley & Sons, Ltd.

  • distributed robust consensus control of Multi Agent Systems with heterogeneous matching uncertainties
    Automatica, 2014
    Co-Authors: Zhisheng Duan, Frank L Lewis
    Abstract:

    This paper considers the distributed consensus problem of linear Multi-Agent Systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. 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 of neighboring Agents, a fully distributed continuous adaptive consensus protocol is designed, under which the consensus error is uniformly ultimately bounded and exponentially converges to a small adjustable bounded set. For the case where there exists a leader whose control input is unknown and bounded, a distributed adaptive consensus protocol is proposed to ensure the boundedness of the consensus error. A sufficient condition for the existence of the proposed protocols is that each Agent is stabilizable.

  • distributed finite time tracking control for Multi Agent Systems an observer based approach
    Systems & Control Letters, 2013
    Co-Authors: Yu Zhao, Zhisheng Duan, Guanghui Wen, Yanjiao Zhang
    Abstract:

    Abstract This paper addresses the distributed finite-time tracking control problem for second-order Multi-Agent Systems. First, we propose a finite-time tracking protocol for Multi-Agent Systems by using state feedback. Then, a new class of observer-based control algorithms are designed for achieving finite-time consensus tracking in Multi-Agent Systems with a single active leader, where each Agent can only share its position states with its neighbors. Within the same context, the present control algorithms are then extended to solve the finite-time containment tracking problem for Multi-Agent Systems in the presence of Multiple active leaders. It is theoretically shown that the position states of the followers will converge to that of the leader or a convex hull spanned by those of the leaders, respectively, in finite time. Furthermore, the finite-time formation control problem is discussed. The effectiveness of the results is also illustrated by numerical simulations.

  • distributed consensus control for linear Multi Agent Systems with discontinuous observations
    International Journal of Control, 2013
    Co-Authors: Guanghui Wen, Zhisheng Duan, Guanrong Chen
    Abstract:

    This article addresses the distributed consensus problem of linear Multi-Agent Systems with discontinuous observations over a time-invariant undirected communication topology. Under the assumption that each Agent can only intermittently share its outputs with the neighbours, a class of distributed observer-type of protocols are designed and utilised to achieve consensus. By using appropriate matrix decomposition, it is shown that consensus in the closed-loop Multi-Agent Systems under a connected topology can be converted to the simultaneous asymptotic stability of a set of switching Systems whose dimensions are the same as each Agent. From a Multiple Lyapunov functions approach, it is proved that there exists a protocol to guarantee consensus if the communication time rate is larger than a threshold value. Furthermore, a distributed pinning control method is employed to solve the consensus problem on an arbitrary given topology which needs not be connected. Particularly, the questions of what kind of agen...

  • distributed robust control of linear Multi Agent Systems with parameter uncertainties
    International Journal of Control, 2012
    Co-Authors: Zhisheng Duan, Lihua Xie, Xiangdong Liu
    Abstract:

    This article considers the distributed robust control problems of uncertain linear Multi-Agent Systems with undirected communication topologies. It is assumed that the Agents have identical nominal dynamics while subject to different norm-bounded parameter uncertainties, leading to weakly heterogeneous Multi-Agent Systems. Distributed controllers are designed for both continuous- and discrete-time Multi-Agent Systems, based on the relative states of neighbouring Agents and a subset of absolute states of the Agents. It is shown for both the continuous- and discrete-time cases that the distributed robust control problems under such controllers in the sense of quadratic stability are equivalent to the H ∞ control problems of a set of decoupled linear Systems having the same dimensions as a single Agent. A two-step algorithm is presented to construct the distributed controller for the continuous-time case, which does not involve any conservatism and meanwhile decouples the feedback gain design from the commun...