Semi-Global Leaderless Consensus of Linear Multi-agent Systems with Actuator and Communication Constraints

This paper studies the leaderless consensus problems of multi-agent systems with input saturation and intermittent communication over directed networks. Both the state feedback and the output feedback consensus algorithms are developed based on low gain feedback approach. The convergence of the trajectories of all agents can be achieved by these proposed algorithms, if the communication topology has a directed spanning tree, and the intermittent communication period T and time rate ρ are larger than their associated threshold values. Simulation examples are provided to verify the theoretical results.     

Robust Consensus and Soft Control of Multi-Agent Systems with Noises*

This paper considers the problem of robust consensus for a basic class of multi-agent systems with bounded disturbances and with directed information flow. A necessary and sufficient condition on the robust consensus is first presented, which is then applied to the analysis, control and decision making problems in the noise environments. In particular, the authors show how a soft control technique will synchronize a group of autonomous mobile agents without changing the existing local rule of interactions, and without assuming any kind of connectivity conditions on the system trajectories.     

Sampled-Data Semi-Global Robust Output Regulation for a Class of Nonlinear Systems

This paper investigates the semi-global robust output regulation problem for a class of uncertain nonlinear systems via a sampled-data output feedback control law. What makes the results interesting is that the nonlinearities of the proposed system do not have to satisfy linear growth condition and the uncertain parameters of our system are allowed to belong to some arbitrarily large prescribed compact subset. Two cases are considered. The first case is that the exogenous signal is constant. The second case is that the exogenous signal is time-varying and bounded. For the first case,the authors solve the problem exactly in the sense that the tracking error approaches zero asymptotically. For the second case, the authors solve the problem practically in the sense that the steady-state tracking error can be made arbitrarily small. Finally, an example is given to illustrate the effectiveness of our approach.     

Bipartite Consensus of Linear Multi-Agent Systems by Distributed Event-Triggered Control

For multi-agent systems with competitive and collaborative relationships, signed graph can more intuitively express the characteristics of their interactive networks. In this paper, the bipartite consensus is investigated for multi-agent systems with structurally balanced signed graph. In order to reduce actuation burden in dynamical network environment, the event-triggering strategy is applied to bipartite consensus protocol for the multi-agent systems. The triggered condition for each agent is designed by using its own information and transmitted information of its neighbors at sampling instant and make the number of triggers of the whole systems be reduced. Based on the distributed eventtriggered control, some sufficient conditions are derived to guarantee the leaderless and leader-following bipartite consensus. Finally, some numerical examples are shown to demonstrate the effectiveness of the theoretical results.     

Containment Control of Multi-Agent Systems with Stochastic Multiplicative Noises

Journal of Systems Science and Complexity - This paper investigates the containment problem of continuous-time multi-agent systems with multiplicative noises, where the first-order and second-order...     

Adaptive Event-Based Consensus of Multi-Agent Systems with General Linear Dynamics

In this paper, adaptive event-based consensus of multi-agent systems with general linear dynamics is considered. A novel adaptive event-based controller and a state-dependent triggering function are proposed for each agent. The consensus can be achieved without the assumption that (A,B) is stabilizable. Furthermore, the Zeno-behavior of the concerned closed-loop system is also excluded under certain conditions. Finally, a numerical simulation example is presented to show the effectiveness of the theoretical results.     

Robust H_∞ Control for Uncertain Markovian Jump Linear Time-Delay Systems

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Adaptive Event-Triggering Consensus for Multi-Agent Systems with Linear Time-Varying Dynamics

In this paper, the authors study the fully distributed event-triggering consensus problem for multi-agent systems with linear time-varying dynamics, where each agent is described by a linear time-varying system. An adaptive event-triggering protocol is proposed for time-varying multi-agent systems under directed graph. Based on the Gramian matrix of linear time-varying systems, the design of control gain is done and sufficient conditions ensuring the consensus of linear time-varying multiagent s...     

Consensus of Linear Multi-Agent Systems with Persistent Disturbances via Distributed Output Feedback

This paper addresses the consensus problem of general linear multi-agent systems with persistent disturbances by distributed output feedback. Suppose that states of agents can not be obtained directly. Several estimators are designed to observe states of agents and the unknown disturbances.A protocol is proposed to drive all agents achieve consensus. Based on the method of model transformation and the property of permutation matrix, sufficient conditions for consensus are obtained in terms of linear matrix inequalities. Finally, simulations are given to show the effectiveness of presented results.     

一类不确定时滞系统的鲁棒H∞控制

讨论了一类含有不确定参数的多时滞线性系统的鲁棒H∞ 控制问题 ,分别给出了全维鲁棒H∞ 动态输出反馈控制器和静态状态反馈控制器的设计。所设计的控制器使得相应的闭环系统对一切时滞和所有允许不确定参数保持内稳定 ,并且闭环系统从扰动到受控输出之间传递函数的 H∞ 范数不大于给定的指标值     

Robust Stabilization of Uncertain Linear Neutral Delay Systems

This note deals with stabilization of uncertain linear neutral delay systems. A new stabilization scheme is presented. Using new Lyapunov-Krasovskii functionals, less conservative stabilization conditions are derived for such systems based on linear matrix inequalities （LMI）. The results are illustrated using a numerical example.     

欠控制方向非线性系统的鲁棒自适应控制

针对一类控制方向未知且具有未建模动态的非线性系统,提出了一种鲁棒自适应控制策略.算法推广了已有的鲁棒自适应非线性控制方法.控制算法保证闭环系统所有信号是一致终值有界的.同时,通过调整控制器设计参数,闭环系统能够实现期望的性能要求.仿真结果进一步说明了理论分析的有效性.     

一类线性时滞系统的时滞依赖稳定性研究

针对一类带有参数不确定性的线性时滞系统,研究其时滞依赖稳定性问题。采用改进的Lyapunov-Krasovskii泛函方法给出了线性时滞系统基于线性矩阵不等式的时滞依赖稳定的充分条件,在定理的证明中结合牛顿公式改进了一系列二次型积分不等式,从而有效降低了定理保守性。最后给出2个计算实例,通过与现有方法的比较可以看出本文方法的更加有效,且得到的最大时滞具有更小的保守性。     

Event-Triggered Sampled-Data Consensus of Nonlinear Multi-Agent Systems with Control Input Losses

This paper investigates the leader-following consensus problem for multi-agent systems with event-triggered mechanism and control packet losses. Based on the local synchronization error, event-triggered mechanisms are proposed in order to reduce the number of controller update. The control packet may lose due to unreliability of communication channel. With the assumption that once the packet loss happens the controller will be set to zero, sufficient consensus criteria for multi-agent system with event-triggered mechanism and control packet losses is obtained. It is also shown that the interplay among the allowable packet loss rate, event-triggered mechanism and sampling period. An illustrative example is given to demonstrate the effectiveness of the theoretical results.     

基于自适应控制的混沌系统的线性广义同步化

主要研究了混沌系境的线性广义同步化问题，给定一个驱动系统，采用自适应控制方法，构造出响应系统，使之与驱动系统达到线性广义同步化，基于Lyapunov稳定性定理和Barbalat定理，严格证明了该构造方法的正确性。以Chua＇s电路为例进行了数值仿真，其结果与理论推导相一致。同时，仿真表明，这种线性广义同步化的构造方法在保密通信中也有很好的应用。     

不确定网络化控制系统的保性能鲁棒容错控制

研究了一类含有不确定性的网络化控制系统的完整性和保性能容错控制问题.基于Lyapunov稳定性理论和LMI方法,采用状态反馈控制策略,针对含有不确定性的网络化控制系统当执行器发生失效故障时分别推证出了系统仍渐近稳定和能够满足一定控制指标的充分条件,进而通过将矩阵不等式转化为线性矩阵不等式得到了求取两种容错控制器的方法.最后用仿真算例验证了该方法的有效性和可行性.     

一类非线性系统的自适应模糊控制

针对一类非线性系统,利用模糊逻辑提出一种鲁棒自适应控制方法.首先证明在一定的条件下,闭环系统必能稳定,并证明这个条件即必落人某一紧集中成立,同时考虑其控制性能,选择鲁棒控制量,使跟踪误差达到要求的性能指标.     

Leader-Following Consensus of Multi-Agent Systems via Adaptive Event-Based Control

In this paper, the adaptive event-based control approach is applied to study leader-following consensus of multi-agent systems with linear dynamic models. Adaptive event-based controller and triggering function for each agent are designed, where the adaptive function is only dependent on its own event time instants. A sufficient condition on consensus is proposed, which shows that the adaptive event-based method presented in this paper not only can reduce the communication among neighboring agents, but also can determine the event time instants for each agent without using the global information. Furthermore, the Zeno-behavior for the concerned closed-loop system is excluded.Finally, an example is presented to illustrate the effectiveness of the obtained theoretical results.     

一类多状态时滞不确定系统的鲁棒预测控制

针对一类多状态时滞多面体不确定对象,提出了一种鲁棒预测控制算法。基于参数相关的李亚普诺夫函数,给出了系统稳定的充分条件。通过求解满足若干线性矩阵不等式条件的上界值的最优化问题,获得了约束范围内满足系统鲁棒性能的最优控制律。优化问题的可行性保证了算法的鲁棒稳定性。仿真实例证明了该算法的有效性。     

含有跳变参数的中立系统的鲁棒保性能滤波

对一类含有马尔可夫跳变参数的中立系统研究了鲁棒保性能滤波问题。系统中含有时滞，跳变参数与不确定性。系统中的跳变参数可以通过有限状态马尔可夫过程来描述。目标是设计无记忆线性滤波器使得对所有的不确定性增广系统是时滞独立鲁棒随机稳定的，并且满足所提的保性能指标。基于随机微分方程稳定性理论，给出了线性滤波器存在的充分条件。借助一组相互关联的线性矩阵不等式，获得了鲁棒保性能的设计方法。通过求解线性矩阵不等式约束下的凸优化问题，给出了次优保性能滤波器的设计方法。