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The guaranteed performance consensus for multiple agents with Lipschitz nonlinear dynamics is investigated by using the delayed consensus protocol. Based on state errors between the one agent and the other agents, the performance function is introduced to describe the consensus regulation performance. The problems are transformed into guaranteed performance stabilization problems by using a matrix...
This paper studies the average consensus problem for a discrete-time multi-agent system with first-order dynamics, we provide the sufficient and necessary stable condition that the step-size needs to satisfy for the multi-agent systems with an iterative method, and the cause of oscillation is investigated with use of matrix diagonal and eigenvalue analysis method. Some conclusions about the largest...
This paper propose an asynchronous impulsive control scheme for consensus of second-order multi-agent systems. The proposed control scheme do not require time synchronization among agents. Each agents has its won clock to determine the impulsive instants. By using discretization approaches and the stochastic matrix theory, it is find that the stability of the proposed control scheme depends on the...
This paper addresses the issue of lag consensus of the leader-following multiagent systems with communication delays and switching topologies. Lag consensus means that the states of the followers lag that of the leader. Based on the graph theory and the common Lyapunov-Krasovskii functional method, we design a protocol ensuring the lag consensus of multiagent systems with communication delays under...
This paper is concerned with the consensus problem for general first-order multi-agent systems over undirected topology. Under the assumption that the topology is connected and every agent receives neighbors information with time-varying communication delay, allowable delay bound depending on the agent dynamics, topology structure and the control gain is obtained. In particular, in case of first-order...
In this paper, the consensus problem of second order multi-agent systems with disturbance is studied under heterogenous position and velocity topologies. The cases that the disturbances are generated from linear exosystems and nonlinear exosystems are considered, respectively. Linear disturbance observer and dynamic-gain-based nonlinear disturbance observer using only the velocity information of the...
This paper investigates the leader-following consensus problem of the switched multi-agent systems with general second-order dynamics. In the switched systems, we consider two subsystems, CT (continuous-time) subsystems and DT (discrete-time) subsystems. A linear distributed control algorithm is proposed for leader-following consensus in the multi-agent systems with switched dynamics. Moreover, based...
The multi-tracking problem of second-order multi-agent system with communication delay is investigated in this paper. An intermittent control protocol is proposed on the basis of only relative position measurement, where the information of agent is quantized before transmission using stochastic quantization scheme. On the basis of algebraic graph theory, stochastic quantization and stability theory,...
This paper studies the fully-distributed consensus problem for multi-agent systems with unknown dynamics and bounded external disturbances. The interaction topology of the multi-agent system is assumed to contain a directed spanning tree. Based on adaptive gains, we present the fully-distributed consensus protocol which can obtain consensus without using any global information. The simulation examples...
Distributed practical node-to-node state consensus problem is studied in this paper for a class of two-layer multi-agent systems. It is supposed that there are two layers, i.e., the leaders' layer and followers' layer, in the considered multi-agent systems. Unlike most existing results on distributed consensus of multi-agent systems, the control objective in this paper is to make the states of each...
Cooperative containment problem is presented in this paper for discrete-time multi-agent systems with different dynamics subject to structural uncertainties. The topologies of the agents could be assumed that one leader contains a directed path to all the follower agents. The paper obtains some novel and challenging results on cooperative containment control problem of discrete-time multi-agent systems:...
This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is...
In this note, under time varying undirected graph, we discuss fixed-time consensus of multi-agent systems and present one framework for constructing effective distributed protocols, which is continuous and distributed state feedbacks. Based on the theory of fixed-time stability, and we prove that if the sum of time intervals is larger than a given time, and the bounded of initial states is known,...
Frequency-domain criterion on containment control for general linear multi-agent systems with time delay is studied under the directed network topology. A distributed protocol with time-invariant delay is proposed. When time-delay is an unknown constant, frequency-domain criterion on containment control of general linear multi-agent systems with delay is obtained, and an upper bound of delay is given...
This paper studies the almost sure containment via time-varying feedback for a class of stochastic nonlinear multi-agent systems. The systems in question allow serious unknowns in the nonlinearities and control coefficient. For this, a time-varying gain is incorporated to compensate the serous unknowns, where the key idea is to introduce an increasing function which is only dependent on time such...
H∞ consensus is investigated for multi-agent systems with linear dynamics and impulsive effects in this paper. First of all, by considering the effects of distributed impulses, the model of linear multi-agent systems with impulsive effects and external disturbances has been obtained. Then, in view of the average impulsive interval and the Lyapunov stability theory, an algorithm has been given to solve...
This paper studies the leader-following problem of general linear multi-agent systems (MASs). A leader-following model is constructed, and then the sliding-mode control (SMC) technique is utilized to guarantee that followers can track the leader. In order to eliminate the chattering, the sliding-mode variable is designed as a dynamical one, that is, the sign function exist in the derivative of the...
This paper investigates the formation control of the multi-agent with single-integrator kinematics in the plane, and presents a new method which could guarantee the agent to realize the arbitrary prescribed formation, furthermore, locations of the agents in the formation can be arbitrary arranged as what we expected. Our method is generalized as follows: Firstly, a consensus control protocol is designed,...
In this paper, the leader-follower consensus problem for a kind of nonlinear multi-agent systems with general directed communication topologies is studied. For this problem, the dynamics of all agents are identical and nonlinear under the strict form with time-varying exponential growth rate subject to Lipschitz condition constraints. With the aid of the observers of states, a distributed output-based...
In this paper, a new perspective on the output containment control of heterogeneous linear multi-agent systems is shown. By introducing a new neighborhood error of follower agents, the output containment control problem can be formulated into a cooperative output regulation problem. A novel dynamic compensator is provided to handle the case with multiple leaders. Applying the Riccati equation approach,...
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