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1.
In this paper, the event-triggered bipartite consensus problem is investigated for nonlinear multi-agent systems under switching topologies, only part of topologies contain directed spanning tree rooted at the leader. First, a dynamic bipartite compensator is constructed based on relative output information to provide control signal. Then, the time-varying gain method is adopted to propose a compensator-based event-triggered control protocol without Zeno behavior. Notably, the control protocol proposed achieves the bipartite consensus while reducing update frequency effectively. Moreover, a low conservative switching law is designed by the topology-dependent average dwell time strategy, which fully considers the differences among topologies and provides an independent average dwell time for each topology. As an extension, the nonlinear multi-agent systems with non-zero input of leader are further studied. Finally, a practical example is presented to demonstrate the feasibility of proposed control protocol.  相似文献   

2.
This paper investigates secure bipartite consensus tracking of linear multi-agent systems under denial-of-service(DoS) attacks by using event-triggered control mechanism with data sampling. Both bipartite leader-following and containment tracking consensus are considered in this paper. The event-triggered control protocol using sampled-data information is designed to save limited resources. The communication channels are interrupted by intermittent DoS attacks. Sufficient conditions on the sampling periods, attack frequency and attack duration are obtained to ensure secure bipartite tracking consensus of the multi-agent systems. Finally, simulation example is provided to illustrate the effectiveness of the theoretical results.  相似文献   

3.
This paper address the distributed bipartite consensus problem of multi-agent systems (MASs) under undirected and directed topologies with dynamic event-triggered (DET) mechanism. The relationship among agents not only collaborative interaction but also competitive interaction are taken into account. A novel DET control protocol is raised with internal dynamic variables to guarantee that each agent can reach the bipartite consensus. Compared with the existing static triggering laws, the introduced DET strategy can significantly enlarge the interval time between two triggering instants. In addition, continuous information transmission in either controller updating or between agent and its neighbors is not demanded, which implies that the communication frequency can be extremely decreased. It is also proven that Zeno behavior does not occur. Finally, two numerical examples verify the validity of the presented theoretical results.  相似文献   

4.
In this paper, the fully distributed consensus for a class of multiple Euler-Lagrange systems is investigated, where the protocol is designed under the event-triggered control framework and the dynamics of Euler-Lagrange systems are heterogeneous. Since only local information interactions at triggered instants can be used and the Euler-Lagrange systems are of relatively complex dynamics, it is challenging to achieve asymptotic consensus without using any global information (such as the Laplacian matrix information). By skillfully integrating the adaptive control, distributed control and event-triggered control techniques, a novel protocol is proposed for the investigated multiple Euler-Lagrange systems. It is proven that the asymptotic consensus can be achieved by the developed protocol. By a numerical example, the effectiveness of the developed protocol is illustrated.  相似文献   

5.
This paper investigates the bipartite leader-following consensus of second-order multi-agent systems with signed digraph topology. To significantly reduce the communication burden, an event-triggered control algorithm is proposed to solve the bipartite leader-following consensus problem, where a novel event-triggered function is designed. Under some mild assumptions on the network topology and node dynamics, a sufficient condition is derived using Lyapunov stability method and matrix theory to guarantee the bipartite consensus. In particular, it is shown that the continuous communication can be avoided and the Zeno-behavior can be excluded for the designed event-triggered algorithm. Numerical simulations are presented to illustrate the correctness of the theoretical analysis.  相似文献   

6.
The leader-following bipartite consensus of multi-agent systems (MASs) with matched uncertainty is investigated by using the fully distributed asynchronous edge-based event-triggered mechanism. Firstly, event-triggered mechanisms are constructed for each edge and the leader to decrease the consumption of system resources. The state feedback and output feedback control protocols are proposed, which do not depend on the global values of the communication graph. Secondly, sufficient conditions for the bipartite consensus of MASs are obtained by Lyapunov stability theory. Thirdly, the feasibility of the proposed event-triggered mechanisms is further verified by exclusion of Zeno phenomenon. Finally, the effectiveness of control protocol is illustrated by simulation.  相似文献   

7.
The problem of event-triggered leader-following consensus control for semi-Markov multi-agent systems is investigated in this paper. A semi-Markov process is used to describe the sudden parameter changes between every agent. An adaptive event-triggered control strategy is proposed to make a balance between reducing unnecessary communication and meeting the required performance. A control protocol which can resist actuator faults is used to ensure the reliable leader-following consensus. By employing the Lyapunov–Krasovskii functional method, some sufficient conditions are provided to guarantee that the leader-following consensus can be achieved in mean-square sense. The consensus controller and the event-triggered parameter can be co-designed. Finally, the effectiveness of the proposed method is verified by a F-404 aircraft engine system.  相似文献   

8.
The ability to ensure the desired performance of the cooperative-antagonistic multi-agent networks (MANs) in the presence of communication constraints is an important task in many applications of real systems. In this paper, under the proposed event-triggered condition (ETC), different types of consensus are obtained under different network topology. We concentrates on the event-based bipartite consensus. It is shown that under the proposed ETC (i) the addressed cooperative-antagonistic network with arbitrary communication delays reaches bipartite consensus provided that the network is balanced; (ii) the network model reaches zero if the network is unbalanced. Further, to avoid the continuously verifying the triggering condition, a self-triggered algorithm is proposed for realizing the bipartite consensus of the network model. A numerical example is given to illustrate the effectiveness of the theoretical results.  相似文献   

9.
This paper considers the event-triggered leaderless and leader-following consensus problems for linear multi-agent systems. By introducing event-triggered estimators, two novel control schemes are proposed. Different from the existing event-triggered controllers, which rely on the Fiedler eigenvalue of Laplacian matrix, the developed controllers only use the information from neighboring agents. Meanwhile, the adaptive trigger parameters are designed in the event-triggered mechanisms to improve the self-regulation ability of the event-triggered estimators. In addition, the leaderless consensus and the leader-following consensus can be achieved under the corresponding control protocols. Finally, two simulation examples are given to illustrate the validity of the proposed control protocols.  相似文献   

10.
This paper focuses on designing a leader-following event-triggered control scheme for a category of multi-agent systems with nonlinear dynamics and signed graph topology. First, an event-triggered controller is proposed for each agent to achieve fixed-time bipartite consensus. Then, it is shown that the Zeno-behavior is rejected in the proposed algorithm. To avoid intensive chattering due to the discontinuous controller, the control protocol is improved by estimating the sign function. Moreover, a triggering function is proposed which avoids continuous communication in the event-based strategy. Finally, numerical simulations are given to show the accuracy of the theoretical results.  相似文献   

11.
This study discusses the finite-time consensus for the second-order leader-following nonlinear multi-agent system with event-triggered communication. An event-triggered control protocol is established to achieve finite-time consensus, which can effectively avoid the Zeno behavior. Due to the unevenness of an event-triggered controller and the occurrence of the event-triggered condition, it is more challenging to analyze the event-triggered finite-time consensus. Based on the knowledge of graph theory, all agents can achieve finite-time consensus via the proposed event-triggered control protocol. Different from homogeneity, a Lyapunov function is constructed to obtain the settling time. Finally, a simulation example illustrates the validity of the main results.  相似文献   

12.
This paper addresses the problem of bipartite output consensus of heterogeneous multi-agent systems over signed graphs. First, under the assumption that the sub-graph describing the communication topology among the agents is connected, a fully distributed protocol is provided to make the heterogeneous agents achieve bipartite output consensus. Then for the case that the topology graph has a directed spanning tree, a novel adaptive consensus protocol is designed, which also avoids using any global information. Each of these two protocols consists of a solution pair of the regulation equation and a homogeneous compensator. Numerical simulations show the effectiveness of the proposed approach.  相似文献   

13.
This paper is concerned with the secure bipartite consensus of second-order multi-agent systems under denial-of-service (DoS) attacks. The communication network is an antagonistic network, in which there is cooperative or competitive relationship between neighboring agents. Meanwhile, information cannot be transmitted when the system is attacked. A novel event-triggered control algorithm based on sampled data is proposed to save limited resources and exclude the Zeno behavior. By applying the convergence of monotone sequences, graph theory as well as the discrete-time Lyapunov function method, some sufficient conditions on threshold parameters, frequency and duration of DoS attacks, and sampling period are derived to ensure the bipartite consensus under DoS attacks. Finally, the correctness and advantages of theoretical results are demonstrated by a numerical simulation.  相似文献   

14.
This article investigates the finite-time consensus problem for the attitude system of multiple spacecraft under directed graph, where the communication bandwidth constraint, inertia matrix uncertainties and external disturbances are considered. An event-triggered communication mechanism is developed to address the problem of communication bandwidth constraint. In this event-triggered mechanism, spacecraft sends their attitude information to their neighbors only when the given event is triggered. Furthermore, an adaptive law is designed to counteract the effect of inertia matrix uncertainties and external disturbances. Then, a finite-time attitude consensus tracking control scheme is proposed based on the event-triggered communication mechanism and adaptive law. The proposed control scheme can guarantee the finite-time stability and convergence of the multiple spacecraft systems and exclude the Zeno phenomenon. Finally, simulation results validate the effectiveness of the proposed control scheme.  相似文献   

15.
In this paper, the leader-following consensus problem is investigated by event-triggered control for multi-agent systems subject to time-varying actuator faults. Firstly, for a case of the leader without control input, a distributed event-triggered fault-tolerant protocol is proposed with the help of adaptive gains. Secondly, the proposed protocol is developed by an auxiliary nonlinear function to compensate the effect of the leader’s unknown bounded input. It is shown that under the both obtained protocols the tracking errors converge to an adjustable neighborhood around the origin, meanwhile the Zeno behavior is avoided. Moreover, the protocols are fully distributed in sense that any global information associated with the network is no longer utilized. Finally, numerical examples are presented to show the validity of the obtained protocols.  相似文献   

16.
In this paper, we mainly investigate the finite-time consensus problem of general linear multi-agent systems. The paper proposed a suitable event-triggered control strategy. The strategy has some desirable properties including: distributed, independent, and asynchronous. It is theoretical demonstrated that the multi-agent system can achieve consensus in a certain time regardless of the initial condition under this event-triggered control scheme. In addition, without finding singular triggering problem, we prove the feasibility of this proposed event-triggered control protocol. Finally, we put forward some simulation graphs for the sake of showing the availability of our conclusions.  相似文献   

17.
A novel adaptive event-triggered control protocol is developed to investigate the tracking control problem of multi-agent systems with general linear dynamics. By introducing the event-triggered control strategy, each agent can decide when to transfer its state to its neighbors at its own triggering instants, which can greatly reduce communication burden of agents. It is shown that the “Zeno phenomenon” does not occur by verifying that there exists a positive lower bound on the inter-event time intervals of agents under the proposed adaptive event-triggered control algorithm. Finally, an example is provided to testify the effectiveness of the obtained theoretical results.  相似文献   

18.
In this article, a novel distributed event-triggered control protocol for the consensus of second-order multi-agent systems with undirected topology is studied. Based on the proposed control protocol, the event-triggered condition is evaluated only at every sampling instant. The control input for each agent will be updated with local information if and only if its condition is violated. Both ideal and quantized relative state measurements are considered under this framework. Some sufficient conditions for achieving consensus are derived using spectral properties of edge Laplacian matrix and the discrete-time Lyapunov function method. Finally, numerical examples are given to demonstrate the effectiveness of our theoretical results.  相似文献   

19.
This paper addresses the consensus problem for a class of multiple Euler-Lagrange systems, where agents communicate with neighbors under an event-triggered mechanism. Due to the more complex dynamical characteristics, the consensus problem of multiple Euler-Lagrange systems is more challenging than that of ordinary second-order multi-agent systems. In this study, we assume that the inertia matrix, the Coriolis and centrifugal term, and the gravitational torque are totally unknown, then a protocol is derived by integrating the Lyapunov functional method, neural network approximation and adaptive control techniques. In addition, the event-triggered mechanism effectively reduces the communication traffic, and the Zeno behavior is well excluded. By a demonstrative example, the effectiveness of the protocol is illustrated.  相似文献   

20.
This paper investigates group consensus for leaderless multi-agent systems with non-identical dynamics. The consensus protocol is put forward in the form of the distributed event-triggered control subject to saturation, which depends on information from neighboring agents at event-triggered instants. In order to exclude the Zeno behavior and save resources, the given event-triggered condition is detected only at discrete sampling times, where the sampling intervals can be variable. Based on the graph theory, Lyapunov–Krasovskii functional method and by adopting the free-weighting matrix technique, some sufficient group consensus criteria in terms of linear matrix inequalities are derived. Furthermore, optimization problems aiming at maximizing the event-triggered parameter and the consensus region are proposed. Finally, numerical simulations illustrate the effectiveness of the theoretical results.  相似文献   

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