Distributed bipartite leader-following consensus of linear multi-agent systems with input time delay based on event-triggered transmission mechanism

Fully distributed consensus of discrete-time linear multi-agent systems with large input and communication delays

This paper investigates the consensus problem for discrete-time leader-following multi-agent systems subject to large time delays. Building upon two assumptions, a novel fully distributed protocol is devised by utilizing a normalized weighting matrix, depending solely on the relative output measurement. It is shown that, for arbitrarily large yet bounded input and communication delays that are constant and exactly known, the consensus problem can be effectively addressed by both the proposed protocol and its truncated version. Assuming further that followers incorporate solely input delays, then the permitted delays can be time-varying and different. The proposed protocols do not rely on global information of the directed communication topology, thus ensuring robustness against alterations in the communication topology. A numerical example is employed to validate the effectiveness of the suggested approach.

Bipartite containment control of fractional multi-agent systems with input delay on switching signed directed networks

The bipartite containment control of nonlinear fractional multi-agent systems (FMASs) on fixed and switching signed directed networks is addressed in this article. Delayed control protocols are put forward to provide several simple algebraic criteria by means of using signed graph theory, fractional Razumikhin technique and common Lyapunov function approach. The presented method can well overcome the difficulty resulting from fractional calculus, time delay and switchings. Two numerical examples are presented for further clarifying the theoretical conclusions.

Adaptive leader-follower control for nonlinear uncertain multi-agent systems with an uncertain leader and unknown tracking paths

With unknown leader parameters and false or immeasurable tracking paths, the leader-follower tracking problem via adaptive control becomes more complex and challenging. Different from the existing work in the literature and in line with real-world applications, this challenging issue is solved in this paper for multi-agent networks with different kinds of unknown uncertainties in the followers such as partially known parameters, nonlinearities, external disturbances, communication weights, and sensor faults. The solution of this challenging issue is obtained in three steps. Firstly, the tracking path is estimated by designing distributed adaptive observers at all agents that have direct communication edges with the leader. Next, by designing local adaptive observers for all followers, the estimates of all followers' states can be obtained. Then, distributed adaptive controllers for all followers are designed using the estimated states of both followers and their neighbors in addition to the estimated tracking path. The tracking performances are provided via sufficient conditions for both the adaptive observers and the adaptive controllers. The proposed methods are evaluated through two examples that are commonly used in the literature. The obtained results prove the efficacy of the recommended adaptive approaches.