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1.
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   

2.
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   

3.
The leaderless, prescribed performance consensus problem for groups of agents with antagonistic interactions is addressed for the first time in this paper. We consider agents modeled by pure feedback nonlinear systems with unknown dynamics and an agent communication network described by a signed digraph with a directed spanning tree. A new proportional and integral (PI) variable transformation is proposed that enables the solution of the problem of leaderless bipartite consensus with prescribed performance by recasting it into a regulation problem with prescribed performance, which in turn we solve by a low complexity distributed control law. The algorithm guarantees uniform boundedness of all closed-loop signals and prescribed performance for the bipartite consensus error. Simulations verify the validity of our theoretical analysis.  相似文献   

4.
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   

5.
This work investigates the problem of distributed control for large-scale systems, in which a communication network is available to exchange information. To avoid the unnecessary communication, an event-triggered control (ETC) mechanism is introduced, in which the transmission occurs only when a certain event is triggered. Under the assumption that only the output signal is available, the static output feedback (SOF) is considered in this work. The aim of the co-design is to design an SOF controller and an ETC condition simultaneously such that the overall closed-loop system is stabilized with a certain level of performance. To this end, an event-triggering scheme based on output signals is proposed to determine when the event is triggered. Then the closed-loop system is modeled as a linear perturbed system. The distributed control co-design is formulated as a convex optimization problem with linear matrix inequalities (LMIs) constraints. Finally, a numerical example is presented to show the effectiveness of the proposed design method.  相似文献   

6.
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   

7.
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   

8.
In this paper, an interventional bipartite consensus problem is considered for a high-order multi-agent system with unknown disturbance dynamics. The interactions among the agents are cooperative and competitive simultaneously and thus the interaction network (just called coopetition network in sequel for simplicity) is conveniently modeled by a signed graph. When the coopetition network is structurally balanced, all the agents are split into two competitive subgroups. An exogenous system (called leader for simplicity) is introduced to intervene the two competitive subgroups such that they can reach a bipartite consensus. The unknown disturbance dynamics are assumed to have linear parametric models. With the help of the notation of a disagreement state variable, decentralized adaptive laws are proposed to estimate the unknown disturbances and a dynamic output-feedback consensus control is designed for each agent in a fully distributed fashion, respectively. The controller design guarantees that the state matrix of the closed-loop system can be an arbitrary predefined Hurwitz matrix. Under the assumption that the coopetition network is structurally balanced and the leader is a root of the spanning tree in an augmented graph, the bipartite consensus and the parameter estimation are analyzed by invoking a common Lyapunov function method when the coopetition network is time-varying according to a piecewise constant switching signal. Finally, simulation results are given to demonstrate the effectiveness of the proposed control strategy.  相似文献   

9.
This paper considers the fixed-time bipartite consensus of nonlinear multi-agent systems (MASs) subjected to external disturbances. Under the directed signed networks, several sufficient conditions are proposed to guarantee the fixed-time bipartite consensus of MASs with or without leaders, respectively. Some discontinuous control protocols are developed to realize fixed-time tracking bipartite consensus of MASs with a leader. Moreover, the fixed-time leaderless bipartite consensus under directed signed graph are discussed as well. Two numerical examples are given to verify the effectiveness of the theoretical results.  相似文献   

10.
《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   

11.
In this paper, we study the consensus tracking control problem of a class of strict-feedback multi-agent systems (MASs) with uncertain nonlinear dynamics, input saturation, output and partial state constraints (PSCs) which are assumed to be time-varying. An adaptive distributed control scheme is proposed for consensus achievement via output feedback and event-triggered strategy in directed networks containing a spanning tree. To handle saturated control inputs, a linear form of the control input is adopted by transforming the saturation function. The radial basis function neural network (RBFNN) is applied to approximate the uncertain nonlinear dynamics. Since the system outputs are the only available data, a high-gain adaptive observer based on RBFNN is constructed to estimate the unmeasurable states. To ensure that the constraints of system outputs and partial states are never violated, a barrier Lyapunov function (BLF) with time-varying boundary function is constructed. Event-triggered control (ETC) strategy is applied to save communication resources. By using backstepping design method, the proposed distributed controller can guarantee the boundedness of all system signals, consensus tracking with a bounded error and avoidance of Zeno behavior. Finally, the correctness of the theoretical results is verified by computer simulation.  相似文献   

12.
In this paper, a distributed consensus algorithm for multi-mobile robot systems (MMRSs) with communication delays is proposed based on the Udwadia-Kalaba (UK) approach. The key feature of the proposed algorithm is that the consensus requirement is configured as a second-order constraint, and then a concise and explicit equation of motion for the constrained mechanical systems is formulated. Furthermore, the necessary and sufficient conditions for achieving the consensus of MMRSs with or without communication delays are developed under the network topology possessing a directed spanning tree. Finally, some numerical simulations are performed to verify the validity of the proposed consensus algorithm.  相似文献   

13.
In this paper, the leader-following bipartite consensus is investigated for a group of uncertain multiple Euler–Lagrange systems with disturbances. An innovative adaptive distributed observer is developed without requiring that followers surely acquire the leader’s auxiliary state and system matrix. A directed signed network satisfying the principle of structural balance is exploited to describe the interaction among agents. Then a novel bipartite consensus control protocol is proposed to solve the bipartite consensus problem of multiple Euler–Lagrange systems. The theoretical proof is provided via constructing a Lyapunov function and applying Barbalat lemma to analyze the convergence problem. Finally, a numerical simulation is utilized to demonstrate the effectiveness of proposed method.  相似文献   

14.
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   

15.
This paper addresses the adaptive fuzzy event-triggered control (ETC) problem for a class of nonlinear uncertain systems with unknown nonlinear functions. A novel ETC approach that exhibits a combinational triggering (CT) behavior is proposed to update the controller and fuzzy weight vectors, achieving the non-periodic control input signals for nonlinear systems. A CT-based fuzzy adaptive observer is firstly constructed to estimate the unmeasurable states. Based on this, an output feedback ETC is proposed following the backstepping and error transformation methods, which ensures the prescribed dynamic tracking (PDT) performance. The PDT performance indicates that the transient bounds, over-shooting and ultimate values of tracking errors are fully determined by the control parameters and functions chosen by users. The closed-loop stability is guaranteed under the framework of impulsive dynamic system. Besides, the Zeno phenomenon is circumvented. The theoretical analysis indicates that the proposed scheme guarantees control performance while considerably reducing the communication resource utilization and controller updating frequency. Finally, the numerical simulations are conducted to verify the theoretical findings.  相似文献   

16.
The distributed event-triggered secure consensus control is discussed for multi-agent systems (MASs) subject to DoS attacks and controller gain variation. In order to reduce unnecessary network traffic in communication channel, a resilient distributed event-triggered scheme is adopted at each agent to decide whether the sampled signal should be transmitted or not. The event-triggered scheme in this paper can be applicable to MASs under denial-of-service (DoS) attacks. We assume the information of DoS attacks, such as the attack period and the consecutive attack duration, can be detected. Under the introduced communication scheme and the occurrence of DoS attacks, a new sufficient condition is achieved which can guarantee the security consensus performance of the established system model. Moreover, the explicit expressions of the triggering matrices and the controller gain are presented. Finally, simulation results are provided to verify the effectiveness of the obtained theoretical results.  相似文献   

17.
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   

18.
This paper considers the finite-time bipartite consensus problem governed by linear multiagent systems subject to input saturation under directed interaction topology. Due to the existence of input saturation, the dynamic performance of linear multiagent systems degrades significantly. For the improvement of the dynamic performance of systems, a dynamic gain scheduling control approach is proposed to design a dynamic Laplacian-like feedback controller, which can be obtained from the analytical solution of a parametric Lyapunov equation. Suppose that each agent is asymptotically null controllable with bounded control, and that the corresponding interaction topology of the signed directed graph with a spanning tree is structurally balanced. Then the dynamic Laplacian-like feedback control can ensure that linear multiagent systems will achieve the finite time bipartite consensus. The dynamic gain scheduling control can better improve the bipartite consensus performance of the linear multiagent systems than the static gain scheduling control. Finally, two examples are provided to show the effectiveness of the proposed control design method.  相似文献   

19.
This paper investigates the observer-based consensus control for high-order nonlinear multi-agent systems (MASs) under denial-of-service (DoS) attacks. When the DoS attacks appear, the communication channels are destroyed, and the blocked information may ruin the consensus of MASs. A switched state observer is designed for the followers to observe the leader’s state whether the DoS attacks occur or not. Then, a dynamic event-triggered condition is proposed to reduce the consumption of communication resources. Moreover, an observer-based and dynamic event-triggered controller is formulated to achieve leader-following consensus through the back-stepping method. Additionally, the boundedness of all closed-loop signals is obtained based on the Lyapunov stability theory. Finally, the simulation results demonstrate the effectiveness of the presented control strategy under DoS attacks.  相似文献   

20.
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   

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