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1.
This study investigates the distributed fault-tolerant output regulation for heterogeneous linear multi-agent systems in the presence of actuator faults. For the systems which are not the neighbors of exosystem, the distributed fixed-time observer is put forward to observe the state of exosystem. Note that it is dependent on the global information of network topology. To address this issue, the fully distributed adaptive fixed-time observer is further proposed. It can estimate not only the state of exosystem, but also the system matrix of exosystem. Based on the proposed observer, a novel fault-tolerant controller is developed to compensate for actuator faults. Moreover, it is proven that the proposed controller is effective to address the fault-tolerant output regulation problem by the Lyapunov stability theory. Finally, two illustrative examples are given to illustrate the feasibility of the main theoretical findings.  相似文献   

2.
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3.
This paper investigates the semi-global cooperative cluster output regulation problem of heterogeneous multi-agent systems with input saturation, the exosystems for each cluster can be different. To avoid using global information (e.g., the minimal nonzero eigenvalue of the Laplacian matrix) in the control protocol, an adaptive dynamic compensator is proposed to estimate exosystem’s state in fully distributed manner. A dynamic event-triggering mechanism with adaptive parameter is proposed in order to reduce the usage of communication resources. Low-gain feedback technique is utilized to deal with the influence of input saturation, and Lypunov-based stability analysis results are obtained. Moreover, it is formally shown that Zeno behavior can be excluded. The superiority of the proposed methods includes: the agents in each cluster are also heterogeneous, which is essentially different from [1]; the event-triggered control strategy does not depend on any global information; and the influence of saturation nonlinearity can be eliminated with low-gain feedback. Finally, a numerical example is provided to illustrate the effectiveness of the proposed methods.  相似文献   

4.
In this paper, we study the robust cooperative output regulation problem of heterogeneous linear multi-agent systems with system uncertainties and directed communication topology. A robust distributed event-triggered control scheme is proposed based on the internal model principle. To avoid continuous monitoring of measurement errors for the event-triggering condition, a novel self-triggered control scheme is further proposed. Moreover, by introducing a fixed timer in the triggering mechanisms, Zeno behavior can be excluded for each agent. An example is finally provided to demonstrate the effectiveness of the proposed self-triggered control scheme.  相似文献   

5.
This paper studies the rendezvous problem for a class of linear systems with uncertain parameters and external disturbances under the state-dependent dynamic network, which is also called rendezvous network here. By combining potential function technique, distributed internal model design and adaptive control technique, a distributed adaptive state feedback control law is proposed to solve the rendezvous problem by completing the tasks of maintaining the connectivity of the rendezvous network, achieving asymptotic tracking, rejecting unknown external disturbances as well as handling uncertain parameters in the system dynamics, the leader system and the exosystem simultaneously.  相似文献   

6.
This paper investigates the output regulation problem for a class of switched nonlinear systems with at least a feedback incrementally passive subsystem via average dwell time method. First, the output regulation problem for switched nonlinear system via full information feedback is solved. The stabilizing controllers consist of the state feedback controllers and linear output feedback controllers. In some particular cases, it is unnecessary to verify that all the solutions of the switched nonlinear system converge to the bounded steady-state solution, while we only have to verify the regulated outputs converge to zero directly. Second, a dynamic error-feedback stabilizer for each subsystem and a switched internal model whose subsystems all are incrementally passive are designed to solve the output regulation problem for the switched nonlinear system under a composite switching signal with average dwell times. The stabilizer and the internal model are interconnected in a more simple way and allowed to switch asynchronously. Finally, two examples are provided to show the effectiveness of the obtained results.  相似文献   

7.
In this paper, we consider the distributed optimization problems with linear coupling constraint of general homogeneous and heterogeneous linear multi-agent systems under weighted-balanced and strongly connected digraphs. In order to control all agents converge to the optimal output, we propose distributed control laws, therein, the optimal output can make the global cost function reach minimum. Then we guarantee the convergence of the proposed algorithms by the properties of Laplacian matrix and Lyapunov stability theorem. Furthermore, we extend the result of heterogeneous linear multi-agent system to the case that dynamics of agents are subject to external disturbances, and prove that the algorithm designed by internal model principle can make all agents reach the optimal output exactly. Finally, we provide examples to illustrate the effectiveness of the proposed distributed algorithms.  相似文献   

8.
This paper investigates the robust output regulation problem for stochastic systems with additive noises. As is known, for the output regulation control problem, a general method is to regard that the system is disturbed by an autonomous exosystem (which is consisted by external disturbances and reference signals), and for the system disturbed by the white noise, the stochastic differential equations (SDEs) should be utilized in modeling, accordingly, a controller with a feedforward regulator is constructed for the stochastic system with an exosystem, which can not only cancel the external disturbance, but also transform the trajectory tracking problem into the stabilization problem; In consideration of the state variables in stochastic systems cannot be measured completely, we embed an observer to the controller, such that the random interference can be suppressed, and the trajectory tracking can be achieved. Based on the stochastic control theory, the criteria of the exponential practical stability in the mean square is presented for the closed-loop system, finally, through tuning the controller parameters, the mean square of the tracking error can converge to an arbitrarily small neighborhood of the origin.  相似文献   

9.
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10.
In this paper, we investigate the output synchronization of networked SISO nonlinear systems that can be transformed into semi-strict feedback form. Due to parameter uncertainty, the agents have heterogeneous dynamics. Combined backstepping method together with graph theory, we construct an augmented Laplacian potential function for analysis and a distributed controller is designed recursively for each agent such that its output can be synchronized to its neighbors' outputs. The distributed controller of each agent has three parts: state feedback of itself, neighborhood information transmitted through the network and adaptive parameter updaters both for itself and its neighbors. Moreover, distributed tuning function is designed to minimize the order of the parameter updater. It is proved that when the undirected graph is connected, all agents’ outputs in the network can be synchronized, i.e., cooperative output synchronization of the network is realized. Simulation results are presented to verify the effectiveness of the proposed controllers.  相似文献   

11.
In this paper, the distributed optimization problem is investigated by employing a continuous-time multi-agent system. The objective of agents is to cooperatively minimize the sum of local objective functions subject to a convex set. Unlike most of the existing works on distributed convex optimization, here we consider the case where the objective function is pseudoconvex. In order to solve this problem, we propose a continuous-time distributed project gradient algorithm. When running the presented algorithm, each agent uses only its own objective function and its own state information and the relative state information between itself and its adjacent agents to update its state value. The communication topology is represented by a time-varying digraph. Under mild assumptions on the graph and the objective function, it shows that the multi-agent system asymptotically reaches consensus and the consensus state is the solution to the optimization problem. Finally, several simulations are carried out to verify the correctness of our theoretical achievements.  相似文献   

12.
This paper investigates the leader-following consensus problem of time-invariant linear multi-agent systems with limited data rate. Based on the idea of assigning a priority level for each agent of the concerned multi-agent system, a novel distributed control law has been proposed. The proposed control law has two distinctive advantages. That is, it is fully distributed in the sense that it does not rely on the eigenvalues of the Laplace matrix associated with the topology. Moreover, the required data rate is independent of the number of agents and remains small even if the number of the agents in multi-agent systems is large. An example is finally given to illustrate the effectiveness of the proposed controller.  相似文献   

13.
In this paper, a distributed time-varying convex optimization problem with inequality constraints is discussed based on neurodynamic system. The goal is to minimize the sum of agents’ local time-varying objective functions subject to some time-varying inequality constraints, each of which is known only to an individual agent. Here, the optimal solution is time-varying instead of constant. Under an undirected and connected graph, a distributed continuous-time consensus algorithm is designed by using neurodynamic system, signum functions and log-barrier penalty functions. The proposed algorithm can be understood through two parts: one part is used to reach consensus and the other is used to achieve gradient descent to track the optimal solution. Theoretical studies indicate that all agents will achieve consensus and the proposed algorithm can track the optimal solution of the time-varying convex problem. Two numerical examples are provided to validate the theoretical results.  相似文献   

14.
This paper researches the output consensus problem of heterogeneous linear multi-agent systems with cooperative and antagonistic interactions. Two fixed-time state compensator control approaches, one static dynamic and the other distributed adaptive dynamic, are considered for heterogeneous systems subject to logarithmic quantization. Then, a fixed-time output regulation control protocol is constructed to cope with the problem of bipartite output consensus and adaptive fixed-time output consensus of heterogeneous systems which is fully distributed without any global information. Besides, the fully distributed adaptive algorithm is employed to calculate the system matrix of leader and it’s also effectively eliminated the harmful chattering. Finally, two simulations are carried out to testify the feasibility of theoretical results.  相似文献   

15.
This paper addresses the flocking motion problem for swarms of agents with two restrictions: limited communication/detection ranges and different input constraints. In this problem, the distance between pairs of agents determines if a communication/detection link exists among them, while each agent has a different control action bound. We use the notion of proximity graph to model communication/detection between agents and provide distributed controllers designed for leaderless and leader-followers flocking motion scenarios. Our proposed designs preserve the connectivity of the proximity graph while the control effort satisfies the bound of each particular agent. Unlike previous results, our protocols take advantage of the group’s input heterogeneity to use agents with a greater capacity to compensate for neighbors that are less capable of meeting the group’s requirements. Additionally, our designs are based only on local state errors and are robust to non-modeled edge failures. To illustrate the effectiveness of our proposal, we use numerical simulations of different flocking scenarios.  相似文献   

16.
In this paper, a complete procedure for the study of the output regulation problem is established for a class of positive switched systems utilizing a multiple linear copositive Lyapunov functions scheme. The feature of the developed approach is that each subsystem is not required to has a solution to the problem. Moreover, two types of controllers and switching laws are devised. The first one depends on the state together with the external input and the other depends only the error. The conditions ensuring the solvability of the problem for positive switched systems are presented in the form of linear matrix equations plus linear inequalities under some mild constraints. Two examples are finally given to show the performance of the proposed control strategy.  相似文献   

17.
This paper studies the consensus problem for a class of nonlinear multi-agent systems with asymmetric time-varying output constraints and completely unknown non-identical control directions. Firstly, in order to deal with the problem of asymmetric time-varying output constraints, the original output-constrained multi-agent systems are transformed into new unconstrained multi-agent systems by constructing the state transformation for each agent. Secondly, the emergence of multiple Nussbaum-type function terms is avoided by introducing novel sliding-mode-esque auxiliary variables and consensus estimate variables, which allows the control directions to be completely unknown non-identical. Thirdly, a novel control strategy is proposed by combining novel variables with state transformation method for the first time, which makes the design of distributed consensus protocol more concise. Through Lyapunov stability analysis, the proposed distributed protocol ensures that the output constraints are never violated and the consensus can be achieved asymptotically. Finally, a practical simulation example is given to demonstrate the effectiveness of the proposed distributed consensus protocol.  相似文献   

18.
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   

19.
This paper addresses the output regulation problem for a class of preview control systems, and derives a state feedback law which suppresses the steady-state error caused by the excitation from polynomial or sinusoidal exogenous inputs. Recently, the output regulation condition for the broader class of distributed parameter systems is characterized via the operator regulator equation. We show that a solution of the operator regulator equation specialized to the preview control system is obtained by solving the matrix regulator equation, and provide the state feedback law which attenuates the transient error optimally with respect to an LQ (Linear Quadratic) performance index.  相似文献   

20.
This paper investigates the formation control of interconnected second-order systems. Each agent is assumed to be capable of measuring its own absolute velocity and the relative positions with respect to its neighboring agents, whereas the target formation is described by absolute positions of all agents in a global coordinate. For such formation control problems, no distributed control policy was reported in existing literature. This paper focuses on the string connection structure of the agents and proposes a distributed control policy that takes the form of purely state feedback without incorporating any feed-forward component. The closed-loop system equation is characterized by an oscillation matrix whose entries are the feedback controller gains. Formation control is accomplished by formulating the agents’ target positions as feedback controller gains. Moreover, it is shown that for agent models described by double integrators, each of the agents located at the two endpoints of the string structure should know its own absolute position. For a class of agent models where each agent’s acceleration depends on its own position, the control laws do not need to use the absolute position. For both system models, the target formations that are asymptotically reachable by the proposed control laws are specified explicitly. Numerical simulations have been conducted to illustrate the effectiveness of the theoretical results.  相似文献   

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