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Silva BMC, Ishihara JY, Tognetti ES. LMI-based consensus of linear multi-agent systems by reduced-order dynamic output feedback. ISA TRANSACTIONS 2022; 129:121-129. [PMID: 35307160 DOI: 10.1016/j.isatra.2022.02.044] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/19/2021] [Revised: 02/15/2022] [Accepted: 02/23/2022] [Indexed: 06/14/2023]
Abstract
This work proposes new conditions for consensus of homogeneous multi-agent systems subjected to exogenous disturbances in directed communication graphs by dynamic output feedback protocols. The agents under investigation are described as linear dynamics, and the communication network is such that each agent receives as information only the output of neighbor agents. The synchronization problem is rewritten as an output feedback stabilization without requiring the Laplacian matrix to be diagonalizable. As the main appeal, we propose new necessary and sufficient conditions for the design of dynamic output feedback controllers of arbitrary order - including static output feedback as a particular case - and sufficient Linear Matrix Inequalities (LMIs) for H∞ consensus. Numerical experiments illustrate the effectiveness of the proposed approach.
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Affiliation(s)
- Bruno M C Silva
- Department Electrical Engineering, University of Brasilia, Brasilia, DF, Brazil.
| | - João Y Ishihara
- Department Electrical Engineering, University of Brasilia, Brasilia, DF, Brazil.
| | - Eduardo S Tognetti
- Department Electrical Engineering, University of Brasilia, Brasilia, DF, Brazil.
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Wang L, Xi J, Yang X, Liu G. Budget-constraint admissible output consensus tracking for intermittent-interaction singular multiagent networks. ISA TRANSACTIONS 2022; 128:71-80. [PMID: 34742548 DOI: 10.1016/j.isatra.2021.10.021] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/21/2021] [Revised: 10/20/2021] [Accepted: 10/20/2021] [Indexed: 06/13/2023]
Abstract
Budget-constraint admissible output consensus tracking design and analysis for the intermittent-interaction singular multiagent networks with given cost budgets are addressed in this paper. Two critical characteristics of many practical multiagent networks are focused. The first one is that the dynamics of each agent contains dynamical modes, as well as impulsive modes and static modes, and interactions among agents are intermittent. The second one is that the network is constrained by the cost budget, and the weighted design between tracking performances and energy consumptions should be guaranteed under budget constraints. Firstly, in virtue of the decomposition of observability, a new singular consensus tracking protocol with the dynamic output feedback is proposed by intermittent protocol states. Meanwhile, a cost index is constructed by considering both the tracking performance and the energy consumption. Then, criteria of budget-constraint admissible output consensus tracking analysis and design are given. By designing the gain matrices of consensus tracking protocols, not only multiagent networks with dynamical modes and static modes reach output consensus tracking while eliminating impulsive modes, but also the upper bound of the cost index can be kept within the cost budget; that is, the weighted design with the budget constraint is achieved. Finally, theoretical results are demonstrated by numerical simulations.
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Affiliation(s)
- Le Wang
- Rocket Force University of Engineering, Xi'an, 710025, PR China
| | - Jianxiang Xi
- Rocket Force University of Engineering, Xi'an, 710025, PR China.
| | - Xiaogang Yang
- Rocket Force University of Engineering, Xi'an, 710025, PR China
| | - Guangbin Liu
- Rocket Force University of Engineering, Xi'an, 710025, PR China
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Optimal consensus model-free control for multi-agent systems subject to input delays and switching topologies. Inf Sci (N Y) 2022. [DOI: 10.1016/j.ins.2021.12.125] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
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4
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Xi J, Wang C, Yang X, Yang B. Limited-Budget Output Consensus for Descriptor Multiagent Systems With Energy Constraints. IEEE TRANSACTIONS ON CYBERNETICS 2020; 50:4585-4598. [PMID: 31995514 DOI: 10.1109/tcyb.2019.2963172] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
This article deals with limited-budget output consensus for descriptor multiagent systems with two types of switching communication topologies, that is, switching connected ones and jointly connected ones. First, a singular dynamic output feedback control protocol with switching communication topologies is proposed on the basis of the observable decomposition, where an energy constraint is involved and protocol states of neighboring agents are utilized to derive a new two-step design approach of gain matrices. Then, limited-budget output consensus problems are transformed into asymptotic stability ones and a valid candidate of the output consensus function is determined. Furthermore, sufficient conditions for limited-budget output consensus design and analysis for two types of switching communication topologies are proposed, respectively, and an explicit expression of the output consensus function is given, which is identical for two types of switching communication topologies. Finally, two numerical simulations are shown to demonstrate theoretical conclusions.
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Luo Y, Xiao X, Cao J, Li A. Event-triggered guaranteed cost consensus for uncertain nonlinear multi-agent systems with time delay. Neurocomputing 2020. [DOI: 10.1016/j.neucom.2020.02.003] [Citation(s) in RCA: 17] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/01/2022]
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6
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Wang ZP, Wu HN, Wang XH. Sampled-data control for linear time-delay distributed parameter systems. ISA TRANSACTIONS 2019; 92:75-83. [PMID: 30826110 DOI: 10.1016/j.isatra.2019.02.002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/03/2018] [Revised: 01/27/2019] [Accepted: 02/01/2019] [Indexed: 06/09/2023]
Abstract
Some real systems have spatiotemporal dynamics and are time-delay distributed parameter systems (DPSs). The existence of time-delay may lead to system instability. The analysis and design of DPSs with time-delay is essentially more complicated. To take into account the factor of time-delay and fully enjoy the benefits of the digital technology in control engineering, it is a theoretical and practical value to consider the sampled-data control (SDC) problem of DPSs with time-delay. However, there are few attempts to solve the SDC problem of time-delay DPSs. In this paper, we introduce a SDC for linear time-delay DPSs described by parabolic partial differential equations (PDEs). A SDC design is developed in the formulation of spatial linear matrix inequalities (LMIs) by constructing an appropriate Lyapunov functional, which can stabilize exponentially the time-delay DPSs. This stabilization condition can be applied to either slowing-varying time delay or fast-varying one. Finally, simulation results of a numerical example are provided to illustrate the effectiveness of the proposed method.
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Affiliation(s)
- Zi-Peng Wang
- School of Electrical Engineering, University of Jinan, Jinan 250022, China.
| | - Huai-Ning Wu
- Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
| | - Xiao-Hong Wang
- School of Electrical Engineering, University of Jinan, Jinan 250022, China.
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Sakthivel R, Parivallal A, Kaviarasan B, Lee H, Lim Y. Finite-time consensus of Markov jumping multi-agent systems with time-varying actuator faults and input saturation. ISA TRANSACTIONS 2018; 83:89-99. [PMID: 30241915 DOI: 10.1016/j.isatra.2018.08.016] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/13/2017] [Revised: 08/14/2018] [Accepted: 08/31/2018] [Indexed: 06/08/2023]
Abstract
This paper gives attention to the issue of finite-time leader-following consensus of nonlinear discrete-time multi-agent systems with Markov jump parameters. A robust fault-tolerant control protocol that takes the effect of time-varying actuator faults and actuator saturation into account is considered for the addressed system. The main purpose of the paper is to design a fault-tolerant controller such that the leader-following consensus of the addressed system is achieved over a prescribed finite-time interval. By using the Lyapunov functional approach, Abel's lemma and some properties of Kronecker product, a sufficient condition for the existence of fault-tolerant state feedback controller for the addressed system is presented and an explicit parameterization of such a controller is obtained. Eventually, a numerical example along with its simulation results is exploited to reflect the applicability of the proposed design method, wherein the robust performance of controller is exhibited despite the presence of actuator saturation and time-varying actuator faults.
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Affiliation(s)
- R Sakthivel
- Department of Applied Mathematics, Bharathiar University, Coimbatore 641046, India; Department of Mathematics, Sungkyunkwan University, Suwon 440-746, South Korea.
| | - A Parivallal
- Department of Mathematics, Anna University Regional Campus, Coimbatore 641046, India
| | - B Kaviarasan
- Department of Mathematics, Anna University Regional Campus, Coimbatore 641046, India
| | - Hosoo Lee
- Department of Mathematics, Sungkyunkwan University, Suwon 440-746, South Korea
| | - Yongdo Lim
- Department of Mathematics, Sungkyunkwan University, Suwon 440-746, South Korea
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Xi J, Yang J, Liu H, Zheng T. Adaptive guaranteed-performance consensus design for high-order multiagent systems. Inf Sci (N Y) 2018. [DOI: 10.1016/j.ins.2018.07.069] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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9
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Ge X, Han QL, Ding D, Zhang XM, Ning B. A survey on recent advances in distributed sampled-data cooperative control of multi-agent systems. Neurocomputing 2018. [DOI: 10.1016/j.neucom.2017.10.008] [Citation(s) in RCA: 122] [Impact Index Per Article: 20.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/18/2022]
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Xu Z, Nian X, Wang H, Chen Y. Robust guaranteed cost tracking control of quadrotor UAV with uncertainties. ISA TRANSACTIONS 2017; 69:157-165. [PMID: 28410747 DOI: 10.1016/j.isatra.2017.03.023] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/25/2016] [Revised: 03/04/2017] [Accepted: 03/24/2017] [Indexed: 06/07/2023]
Abstract
In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well.
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Affiliation(s)
- Zhiwei Xu
- School of Information Science and Engineering, Central South University, Changsha City, Hunan Province 410075, China
| | - Xiaohong Nian
- School of Information Science and Engineering, Central South University, Changsha City, Hunan Province 410075, China.
| | - Haibo Wang
- School of Information Science and Engineering, Central South University, Changsha City, Hunan Province 410075, China
| | - Yinsheng Chen
- School of Information Science and Engineering, Central South University, Changsha City, Hunan Province 410075, China
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