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Song W, Feng J, Zhang H, Wang W. Dynamic Event-Triggered Formation Control for Heterogeneous Multiagent Systems With Nonautonomous Leader Agent. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023; 34:9685-9699. [PMID: 35544493 DOI: 10.1109/tnnls.2022.3159669] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
In this article, the time-varying output formation issue of heterogeneous multiagent systems is investigated by the event-triggered control scheme. Only the outputs of all agents, including leader agent and follower agents, are measurable. The leader agent contains an unknown input signal to generate flexible reference trajectory. Also, only a subset of follower agents have the direct access to the leader agent. First, for each follower, the leader-state compensator is designed to estimate the state of leader. Two kinds of dynamic event-triggered (DET) mechanisms, i.e., node- and edge-based event-triggered schemes, can be equipped on the compensator to save the communication bandwidth of leader-follower and follower-follower interactions, respectively. Then, the distributed formation controller is built to drive each follower achieving formation tracking. The presented control protocol consisting of the DET state compensator and formation controller is fully distributed, which is independent of the global information of communication topology, such as the eigenvalues of Laplacian matrix of communication topology and amount of whole agents. Finally, the numerical experiments and comparison experiments are exhibited to verify the effectiveness of the presented control protocol.
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Song W, Feng J, Zhang H, Cai Y. Formation Tracking Control for Heterogeneous Multiagent Systems With Multiple Nonautonomous Leaders via Dynamic Event-Triggered Mechanisms. IEEE TRANSACTIONS ON CYBERNETICS 2023; 53:7224-7237. [PMID: 36264740 DOI: 10.1109/tcyb.2022.3190323] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
This article considers the time-varying formation (TVF) tracking issue of heterogeneous multiagent systems (HMASs) with the dynamic event-triggered control. The HMASs contain heterogeneous multiple leaders, all of which have the input signals to generate flexible reference, and only the output information can be measured. All leaders do not have access to the same followers, that is, the well-informed follower assumption is removed in this article. In this setting, the adaptive multileader state compensator is designed for each follower to estimate the integrated state information of all leaders, which can equip with two kinds of dynamic event-triggered mechanisms, that is, node-based event-triggered mechanism and edge-based event-triggered mechanism, to save communication bandwidth. Then, the TVF controllers are built by some estimation values to regulate the followers to achieve and maintain the geometric shape while tracking the reference which is the convex combination of outputs of leaders. The event-triggered compensator and TVF controller constitute the control protocol of HMASs, which are independent of global information with the fully distributed manner. The stability analysis and numerical simulations are given to verify the presented control protocol.
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Zhang J, Zhang H, Ming Z, Mu Y. Adaptive Event-Triggered Time-Varying Output Bipartite Formation Containment of Multiagent Systems Under Directed Graphs. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023; 34:8909-8922. [PMID: 35436196 DOI: 10.1109/tnnls.2022.3154028] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
The time-varying output bipartite formation containment (TVOBFC) problem for linear multiagent systems (MASs) under directed graphs is an important problem. However, the methods in existing works rely on the global information of the MASs or do not use event-triggered communication. This article investigates two kinds of TVOBFC problems for heterogeneous linear MASs under signed digraphs by event-triggered communication. For the first case where leaders have the same dynamics, the innovative fully distributed event-triggered protocol for the follower is proposed. In this case, the followers form the preset formation shape. For the second case where leaders have different dynamics, the leaders are divided into two groups. One group can directly obtain the output information of the virtual leader, while the other group cannot. In order to make leaders achieve the formation shape and track the virtual leader, two kinds of innovative observers are designed for two kinds of leaders to estimate the state of the virtual leader, and the control protocol is designed for each leader based on the designed observers. Then, the control law for each follower is designed to solve the formation containment problem. Finally, two examples are introduced to illustrate the main results.
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Zhang H, Li W, Zhang J, Wang Y, Sun J. Fully Distributed Dynamic Event-Triggered Bipartite Formation Tracking for Multiagent Systems With Multiple Nonautonomous Leaders. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023; 34:7453-7466. [PMID: 35113789 DOI: 10.1109/tnnls.2022.3143867] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Considering that cooperative interactions and antagonistic interactions between neighboring agents may exist simultaneously in practice, this article studies the bipartite time-varying output formation tracking (BTVOFT) problems for homogeneous/heterogeneous multiagent systems with multiple nonautonomous leaders under switching communication networks. First, a full-dimensional observer-based nonsmooth distributed dynamic event-triggered (DDET) output feedback control scheme is proposed to ensure that BTVOFT is achieved, and the Zeno behavior is excluded. Note that the nonsmooth distributed control scheme requires global communication network information and may cause unexpected chattering effect, and the design cost of full-dimensional observer is relatively high. Thus, a reduced-dimensional observer-based continuous fully DDET scheme is proposed. Compared with the existing event-triggered schemes, the dynamic event-triggered scheme can ensure larger interevent times by introducing an additional internal dynamic variable. Finally, the effectiveness and performance of the theoretical results are validated by numerical simulations.
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Li W, Zhang H, Gao Z, Wang Y, Sun J. Fully Distributed Event/Self-Triggered Bipartite Output Formation-Containment Tracking Control for Heterogeneous Multiagent Systems. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 2023; 34:7851-7860. [PMID: 35175922 DOI: 10.1109/tnnls.2022.3146814] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
This article considers the bipartite time-varying output formation-containment tracking control issue for general linear heterogeneous multiagent systems with multiple nonautonomous leaders, where the full states of agents are not available. Both cooperative interaction and antagonistic interaction between neighboring agents are taken into account. First, an observer is constructed using the output information to observe the state information. Then, based on the information between neighboring agents, an independent asynchronous fully distributed event-triggered bipartite compensator is put forward to estimate the convex hull spanned by the states of multiple leaders. Note that the compensator does not require to use of any global information. Subsequently, a formation-containment tracking control strategy based on the observer and compensator and an algorithm to determine its control parameters are given. The Zeno behavior is further proved to be excluded in any finite time. In addition, a novel self-triggered control strategy based only on the sampled information at triggering instants is also formulated, which avoids continuous communication among agents. Finally, a numerical example is given to validate the effectiveness and performance of the proposed control strategies.
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Zhang J, Zhang H, Sun S, Cai Y. Adaptive Time-Varying Formation Tracking Control for Multiagent Systems With Nonzero Leader Input by Intermittent Communications. IEEE TRANSACTIONS ON CYBERNETICS 2023; 53:5706-5715. [PMID: 35522634 DOI: 10.1109/tcyb.2022.3165212] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
The time-varying formation (TVF) tracking problem is studied for linear multiagent systems (MASs), where followers reach a preset TVF when tracking the leader's state. Followers are divided into the informed ones, which directly receive the leader's information, and uninformed ones. To alleviate communication requirements, trigger mechanisms are designed for the leader and all edges. Note that the designed trigger mechanisms enable the leader to send information intermittently and each follower to transmit information asynchronously when the corresponding trigger mechanism is satisfied. To address the TVF tracking problem, the node-event (for the leader) and (dynamic) edge-event triggered adaptive control strategy is proposed, which is fully distributed and has no relation to the system network's scale. Moreover, the MASs do not exhibit the Zeno behavior. Finally, a practice example is introduced to effectively illustrate the theoretical results.
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Li W, Zhang H, Cai Y, Wang Y. Fully distributed event-triggered bipartite formation tracking for multi-agent systems with multiple leaders and matched uncertainties. Inf Sci (N Y) 2022. [DOI: 10.1016/j.ins.2022.03.033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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Zhang J, Zhang H, Gao Z, Sun S. Time-varying formation control with general linear multi-agent systems by distributed event-triggered mechanisms under fixed and switching topologies. Neural Comput Appl 2022. [DOI: 10.1007/s00521-021-06539-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/19/2022]
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Xi J, Wang X, Li H, Zhang Q, Han X. Energy-constraint output formation for swarm systems with dynamic output feedback control protocols. ISA TRANSACTIONS 2022; 120:235-246. [PMID: 33814261 DOI: 10.1016/j.isatra.2021.03.029] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/02/2020] [Revised: 02/19/2021] [Accepted: 03/19/2021] [Indexed: 06/12/2023]
Abstract
This paper studies the energy-constraint output formation control for swarm systems with leaderless and leader-following topology structures. Most existing results on output formation with the dynamic output feedback protocols focus on the swarm systems without the energy constraint, but it is well known that the energy constraint is critically important for practical applications. In order to analyze the impacts of the energy constraint, a new energy-constraint output formation protocol is proposed. First, by the observable decomposition approach, a dynamic output formation protocol is presented, which contains an energy-constraint term to restrict the whole consumption. Then, sufficient conditions for leaderless energy-constraint output formation are presented via establishing the relationship of the energy constraint and the matrix variables, where it is found that the designed gain matrices of the output formation protocol can ensure that the actual energy consumption is lower than the total energy supply. Especially, a partition checking algorithm is proposed to check those conditions, which can ensure the scalability and solvability of a swarm system. Moreover, the output formation center function is derived to depict the whole macroscopic movement of a swarm system. A nonsingular transformation approach is presented to unify leaderless energy-constraint output formation and energy-constraint output formation tracking into the same framework, which are usually discussed in different theoretical frameworks. Finally, two simulation examples are illustrated to show that the theoretical results about leaderless energy-constraint output formation and energy-constraint output formation tracking are correct.
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Affiliation(s)
- Jianxiang Xi
- High-Tech Institute of Xi'an, Xi'an, 710025, China.
| | - Xicong Wang
- High-Tech Institute of Xi'an, Xi'an, 710025, China
| | - Hongyao Li
- High-Tech Institute of Xi'an, Xi'an, 710025, China
| | - Qi Zhang
- High-Tech Institute of Xi'an, Xi'an, 710025, China
| | - Xinzhong Han
- Beijing BlueVision Technology Limited Company, Beijing, 100070, China
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Zhang J, Zhang H, Sun S, Gao Z. Leader-follower consensus control for linear multi-agent systems by fully distributed edge-event-triggered adaptive strategies. Inf Sci (N Y) 2021. [DOI: 10.1016/j.ins.2020.10.056] [Citation(s) in RCA: 28] [Impact Index Per Article: 9.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022]
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Wang M, Liu Y, Xu B. Observer-based H ∞ control for cyber-physical systems encountering DoS jamming attacks: An attack-tolerant approach. ISA TRANSACTIONS 2020; 104:1-14. [PMID: 31955945 DOI: 10.1016/j.isatra.2019.12.014] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/07/2019] [Revised: 10/27/2019] [Accepted: 12/26/2019] [Indexed: 06/10/2023]
Abstract
In this paper, considering two typical attack strategies of a DoS jammer, a new kind of H∞ control problem is studied for Cyber-Physical Systems (CPSs) with different transmission mechanism encountering DoS jamming attacks. By defining a concept of working subcycle, the concrete attack strategies of a DoS jammer can be generated by choosing different reasonable value combinations in a unified framework according to the DoS jammer's energy efficiency and stealthiness. Then, for two different transmission mechanisms, namely the time-triggered mechanism (TTM) and the event-triggered mechanism (ETM), in which CPSs can employ in its wireless channels, two DoS jammers employ different attack strategies and launch SINR-based DoS jamming attacks to decrease the quality of wireless communication. Considering the case that the CPSs do not know the DoS jammers' attack strategies, the corresponding H∞ observer-based controllers are designed by using an attack-tolerant mechanism to achieve the desired H∞ disturbance attenuation level, and the controller design problems are transformed to auxiliary convex optimization problems. Finally, numerical simulations are presented to demonstrate the effectiveness of the proposed H∞ control methods and the varying of system performance under different interference power chosen by the DoS jammers.
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Affiliation(s)
- Mufeng Wang
- College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
| | - Yonggui Liu
- College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
| | - Bugong Xu
- College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China.
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Wang J, Huang Y, Wang T, Zhang C, Liu YH. Fuzzy finite-time stable compensation control for a building structural vibration system with actuator failures. Appl Soft Comput 2020. [DOI: 10.1016/j.asoc.2020.106372] [Citation(s) in RCA: 62] [Impact Index Per Article: 15.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/28/2022]
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