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1.
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   

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 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   

4.
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   

5.
This paper is dedicated to the stochastic bipartite consensus issue of discrete-time multi-agent systems subject to additive/multiplicative noise over antagonistic network, where a stochastic approximation time-varying gain is utilized for noise attenuation. The antagonistic information is characterized by a signed graph. We first show that the semi-decomposition approach, combining with Martingale convergence theorem, suffices to assure the bipartite consensus of the agents that are disturbed by additive noise. For multiplicative noise, we turn to the tool from Lyapunov-based technique to guarantee the boundedness of agents’ states. Based on it, the bipartite consensus with multiplicative noise can be achieved. It is found that the constant stochastic approximation control gain is inapplicable for the bipartite consensus with multiplicative noise. Moreover, the convergence rate of stochastic MASs with communication noise and antagonistic exchange is explicitly characterized, which has a close relationship with the stochastic approximation gain. Finally, we verify the obtained theoretical results via a numerical example.  相似文献   

6.
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   

7.
This paper studies the predefined-time practical consensus problem for multiple single-integrator systems through event-triggered control. A new kind of time-varying functions is firstly proposed. Then, new event-triggered control inputs as well as triggering conditions are designed on the basis of the time-varying function and the local broadcasted states. In particular, the control scheme is fully-distributed because no global information of the system and the communication topology is needed. Furthermore, the consensus analysis is presented based on a sufficient condition for predefined-time practical stability. It illustrates that practical consensus can be ensured with a completely pre-specified time. Besides, the exclusion of Zeno behavior at all the time instants is addressed. Numerical results verify the validity of the obtained control method.  相似文献   

8.
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   

9.
Distributed target tracking is an important problem in sensor networks (SNs). In this paper, the problem of distributed target tracking is addressed under cyber-attacks for targets with discrete-time and continuous-time nonlinear dynamics. Two distributed filters are obtained for every node of the SN to estimate the states of a general class of nonlinear targets which can be seen in many practical applications. Compared with the existing results in the literature, the network topology of the SN is assumed to be subjected to the denial-of-service attack such that the communication links among sensor nodes are paralyzed or destroyed by this kind of attack. Moreover, the proposed algorithms are designed based on an event-triggered communication strategy that means the frequency of information transmission and unnecessary resource consumption are significantly reduced. The presented algorithms’ stability is also analyzed in the presence of noise to achieve secure event-triggered target tracking in mean-square. Two simulation examples are utilized to demonstrate the efficiency of the proposed event-triggered algorithms.  相似文献   

10.
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   

11.
This paper investigates the consensus of fractional-order multiagent systems via sampled-data event-triggered control. Firstly, an event-triggered algorithm is defined using sampled states. Thus, Zeno behaviors can be naturally avoided. Then, a distributed control protocol is proposed to ensure the consensus of fractional-order multiagent systems, where each agent updates its current state based on its neighbors’ states at event-triggered instants. Furthermore, the pinning control technology is taken into account to ensure all agents in multiagent systems reach the specified reference state. With the aid of linear matrix inequalities (LMI), some sufficient conditions are obtained to guarantee the consensus of fractional-order multiagent system. Finally, numerical simulations are presented to demonstrate the theoretical analysis.  相似文献   

12.
In this paper, the leader-following consensus problem of general linear multi-agent systems without direct access to real-time state is investigated. A novel observer-based event-triggered tracking consensus control scheme is proposed. In the control scheme, a distributed observer is designed to estimate the relative full states, which are used in tracking consensus protocol to achieve overall consensus. And an event-triggered mechanism with estimated state-dependent event condition is adopted to update the control signals so as to reduce unnecessary data communication. Based on the Lyapunov theorem and graph theory, the proposed event-triggered control scheme is proved to implement the tracking consensus when real-time state cannot direct obtain. Moreover, such scheme can exclude Zeno-behavior. Finally, numerical simulations illustrate the effectiveness of the theoretical results.  相似文献   

13.
This article investigates the leader-following successive lag consensus (SLC) for nonlinear multi-agent systems (NMASs) via the observer-based event-triggered control (OBETC), in which two scenarios including constant consensus delay and time-varying consensus delay are considered. Since the system states might not be directly available in actual scenes, the state estimation method is utilized for followers to track their full information. Based on the relative state, a class of distributed event-triggered control protocols is constructed, where the event-triggered strategy is introduced such that each follower can determine the broadcasting time to its neighbors. Obviously, these designed control protocols considerably lessen the expense over communication networks and the frequency of protocol updates. Furthermore, with the aid of the Lyapunov function method, a series of sufficient conditions for guaranteeing the leader-following SLC of NMASs is obtained. Meanwhile, it is proved that no Zeno behavior is exhibited. Finally, several numerical examples are given to illustrate the validity of our theoretical results.  相似文献   

14.
The problem of event-based H∞ filtering for discrete-time Markov jump system with network-induced delay is investigated in this paper. For different jumping modes, different event-triggered communication schemes are constructed to choose which output signals should be transmitted. Through the analysis of network-induced delay’s intervals, the discrete-time system, the event-triggered scheme and network-induced delay are unified into a discrete-time Markov jump filter error system with time-delay. Based on time-delay system analysis method, criteria are derived to guarantee the discrete-time Markov jump error system stochastically stable with an H∞ norm bound. The correspondent filter and the event-based parameters are also given. A numerical example is given to show that the proposed filter design techniques are effective and event-triggered communication scheme can save limited network resources greatly.  相似文献   

15.
An event-triggered leader-following consensus problem for multi-agent systems with nonlinear dynamics was investigated in this study. The interaction topologies among the agents that we considered are randomly switched ones, governed by a semi-Markov process with partially unknown rates. By building the state error model between the leader and followers, the consensus problem is first converted into a stability problem. Moreover, an event-triggered transmission scheme based on sampling data was proposed to reduce communication redundancy. The consensus controller and event-triggered parameters can be designed effectively. By constructing a Lyapunov–Krasovskii functional (LKF) with a triple integral, the sufficient conditions required to guarantee the event-triggered consensus can be reached with respect to the linear matrix inequalities (LMIs). Ultimately, the validity of the theoretical results is demonstrated by a numerical example.  相似文献   

16.
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   

17.
This paper mainly investigates the event-triggered tracking control for couple-group multi-agent systems in a disturbance environment, where the topology of the agents is switching. Consensus protocol is designed for the case that some agents reach a consistent value, while the other agents reach another consistent value. Then, event-triggered control laws are designed to reduce the frequency of individual actuation updating for discrete-time agent dynamics. Moreover, by applying the Lyapunov function method, a sufficient condition of couple-group consensus is established in terms of a matrix inequality when the communication topology is switching. Finally, simulation examples are given to demonstrate the effectiveness of the proposed methods.  相似文献   

18.
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   

19.
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   

20.
《Journal of The Franklin Institute》2023,360(14):10681-10705
This paper investigates dynamic event-triggered adaptive leader-following semi-global bipartite consensus (SGBC) of multi-agent systems (MASs) with input saturation. A dynamic event-triggered adaptive control (DETAC) protocol is presented, where the triggering function can regulate its threshold value dynamically. It’s turned out that the SGBC can be achieved via the DETAC protocol under some inequalities. Then, the proposed DETAC protocol is extended to solve bipartite consensus under jointly connected topology. Furthermore, the Zeno behaviors will be avoided. Finally, the rationality of proposed DETAC protocols are tested by simulation results.  相似文献   

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