A novel observer-based formation for nonlinear multi-agent systems with time delay and intermittent communication

Intl J Robust & Nonlinear

et al. 2020

Robust time-varying formation design problems for second-order multiagent systems subjected to external disturbances are investigated. First, by constructing an extended state observer, the disturbance compensation is estimated, which is a critical term in the proposed robust time-varying formation control protocol. Then, an explicit expression of the formation center function is determined and impacts of disturbance compensations on the formation center function are presented. With the formation feasibility conditions, robust time-varying formation design criteria are derived to determine the gain matrix of the formation control protocol by utilizing the algebraic Riccati equation technique. Furthermore, the tracking performance and the robustness property of multiagent systems are analyzed. Finally, the numerical simulation is provided to illustrate the effectiveness of theoretical results. K E Y W O R D S algebraic Riccati equation, extended state observer, external disturbance, multiagent system, robust time-varying formation 2796

Section: Introductionmentioning

confidence: 99%

“…Note that the desired formation was time‐invariant in References . However, time‐varying formation configurations are required in many applications due to complex external environments and/or variable mission situations.…”

Section: Introductionmentioning

confidence: 99%

Robust time‐varying formation design for multiagent systems with disturbances: Extended‐state‐observer method

Intl J Robust & Nonlinear

et al. 2020

“…Under periodically intermittent communication, several intermittent control protocols for consensus-seeking of multi-agent systems have been developed [21][22][23][24]. Multi-agent consensus problems have also been intensively investigated [25][26][27][28] owing to the coexistence of time delays and intermittent communication. In [29], based on aperiodically intermittent control strategy, the second-order consensus problem was addressed for delayed multi-agent systems under aperiodically intermittent communication.…”

Section: Introductionmentioning

confidence: 99%

Leader-following consensus of second-order nonlinear multi-agent systems with intermittent position measurements

Liu

Chen

2019

Sci. China Inf. Sci.

Self Cite

This work studies the leader-following consensus problem of second-order nonlinear multi-agent systems with aperiodically intermittent position measurements. Through the filter-based method, a novel intermittent consensus protocol without velocity measurements is designed for each follower exclusively based on the relative position measurements of neighboring agents. Under the common assumption that only relative position measurements between the neighboring agents are intermittently used, some consensus conditions are derived for second-order leader-following multi-agent systems with inherent delayed nonlinear dynamics. Moreover, for multi-agent systems without inherent delayed nonlinear dynamics, some simpler consensus conditions are presented. Finally, some simulation examples are presented to verify and illustrate the theoretical results.

“…Under time-varying networks, the intermittent consensus problem for leader-following multiagent systems is investigated by the intermittent control approach, and some sufficient conditions for solving leader-following consensus are obtained in the work of Hu et al 23 In the work of Qin et al, 24 a new neighbor-based consensus protocol based on observers is developed for leader-following consensus of second-order nonlinear multiagent systems with intermittent communications. In consideration of time delay, the leader-following consensus problem for second-order multiagent systems with inherent delayed nonlinear dynamics and intermittent communications is considered, and a novel observer-based intermittent consensus protocol is proposed in the work of Qin et al 25 As a special kind of leader-following consensus with multiple leaders, containment control has been paid much attention, which aims to design appropriate control protocols to drive all followers into a geometric space (convex hull) formed by the leaders. In reality, there have lots of potential applications for containment control.…”

Section: Introductionmentioning

confidence: 99%

Distributed containment control for second‐order multiagent systems with time delay and intermittent communication

Intl J Robust & Nonlinear

Liu

Chen

2018

Self Cite

Summary This paper studies the containment control problem for second‐order multiagent systems with intermittent communications and time‐varying delays. Under the common assumption that each follower can only communicate with its neighbors over some disconnected time intervals, some distributed controllers are designed such that all the followers can converge to convex hull formed by the leaders. Firstly, a distributed intermittent control protocol without considering time delays is proposed for second‐order containment control with intermittent communications. Then, under delayed and intermittent communication, a kind of distributed containment control algorithm is derived for second‐order multiagent systems with time‐varying delays. Based on the Lyapunov function technology and the intermittent control method, some sufficient conditions are presented to guarantee that the second‐order multiagent systems can achieve intermittent containment control under fixed topology. As an extension, similar results are obtained for containment control under switching topology. Finally, numerical simulations are presented to demonstrate the theoretical analysis.