Designing Distributed Specified-Time Consensus Protocols for Linear Multiagent Systems Over Directed Graphs

Zhao, Yu; Liu, Yongfang; Wen, Guanghui; Ren, Wei; Chen, Guanrong

doi:10.1109/tac.2018.2872534

Cited by 178 publications

(115 citation statements)

References 46 publications

Supporting

Mentioning

115

Contrasting

Order By: Relevance

“…Remark From above analysis, one can conclude that the specified‐time control law derived from the finite‐time control law has faster convergence performance than specified‐time control law derived from the exponential control law in the sense of

\lim_{scriptT \to t_{f}} false(E_{i j}, ω_{i} - ω_{j} false) \to false(I_{3}, 0 false)

, while the convergence performance of specified‐time control law is faster than specified‐time control law derived from the asymptotical control law . This shows that our specified‐time control framework can distinguish the convergence performance among different specified‐time control laws, which is an extra benefit over existing approaches …”

Section: Finite‐time–based Specified‐time Attitude Synchronizationmentioning

confidence: 90%

“…There are few works considering the specified‐time control problem. By using the Pontryagin's maximum principle, the specified‐time control law is derived from an optimal control problem in the work of Liu et al Since then, a variety of specified‐time control laws have been studied to solve other different scenarios, such as sampled data control, switching graphs control, and so forth . The specified‐time control problem for multiagent systems is proposed in the works of Song et al, wherein the convergence rate is analyzed by the Lyapunov function method.…”

Section: Introductionmentioning

confidence: 99%

“…First of all, simplifying the design procedure of specified‐time control laws is a significant issue. It is difficult to obtain the specified‐time control laws from the existing asymptotical, exponential, or finite‐time control laws in previous approaches . Secondly, when adopting the optimal control design procedure from Pontryagin's maximum principle, the convergence rate analysis for existing specified‐time control laws is complex.…”

Section: Introductionmentioning

confidence: 99%

“…Thereby, finding a simple proof method is a key point. Thirdly, a comparative result on convergence performance among different specified‐time control laws cannot be obtained from existing approaches . Designing and distinguishing the different convergence performance of various specified‐time control laws become an even more challenging issue.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

Peng

Sun

Zhang

2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary This paper addresses the specified‐time control problem for control‐affine systems and rigid bodies, wherein the specified‐time duration can be designed in advance according to the task requirements. By using the time‐rescaling approach, a novel framework to solve the specified‐time control problem is proposed, and the original systems are converted to the transformation systems based on which the specified‐time control laws for both control‐affine systems and rigid bodies are studied. Compared with the existing approaches, our proposed specified‐time control laws can be derived from the known stabilization control laws. To our best knowledge, it is the first time that transformation system–based specified‐time control framework for control‐affine system and rigid body dynamics is proposed. To further improve the convergence performance of specified‐time control, a finite‐time attitude synchronization control law for rigid bodies on rotation matrices is proposed, and thereby, the finite‐time–based specified‐time control law is designed eventually. In the end, numerical simulations and SimMechanics experiments are provided to illustrate effectiveness of the theoretical results.

show abstract

\lim_{scriptT \to t_{f}} false(E_{i j}, ω_{i} - ω_{j} false) \to false(I_{3}, 0 false)

Section: Finite‐time–based Specified‐time Attitude Synchronizationmentioning

confidence: 90%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

Peng

Sun

Zhang

2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…For the cooperative control of multiagent systems, the communication topology plays a vital role. Under a fixed topology, the cooperative control problems of multiagent systems have been studied extensively . For example, Zheng and Wang study the finite‐time consensus problem of heterogeneous multiagent systems composed of first‐order and second‐order integrator agents.…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered tracking control of heterogeneous multiagent systems based on two kinds of observers with asymmetric delay

Wang

Liu

Wang

et al. 2019

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Summary In this paper, we consider the output tracking problem of a multiagent system with asymmetric delays and a switching topology. The multiagent system contains a leader and some followers, the dynamics of which are heterogeneous, and the output of the leader is available to only a subset of followers. We propose two types of observers to estimate states of the leader and reduce communication cost. For the informed followers that can directly obtain information of the leader, a common observer is given to reduce the complexity of observer design. Meanwhile, for the rest of the followers, a distributed observer with asymmetric communication delays for each follower is designed. The observer error system is transformed into a switched system. Through designing the average dwell‐time switching law and constructing multiple Lyapunov functionals, some sufficient conditions for stability of the observer error system are obtained. Furthermore, a distributed controller for followers based on the relative information is developed to track the output of the leader. Finally, an example is given to validate the effectiveness of the proposed results.

show abstract

Robust distributed formation control with prescribed performance for nonlinear multi‐agent systems subjected to compound disturbances

Jiang

Liu

Chen

2023

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryThis article is concerned with the distributed leader‐following formation control for nonlinear multi‐agent systems (MASs) subject to compound disturbances. Three aspects of the control objective: formation control, collision avoidance and connectivity preservation are achieved by the designed controller composed of three control laws. The formation control law is developed based on the barrier Lyapunov function and the backstepping method, which can prescribe the performance of the close‐loop system to some extent. Within our scheme, an adaptive finite‐time disturbance observer is used to enhance the robustness of the control system against compound disturbances including parameter perturbations, actuator bias faults and external disturbances. Meanwhile, a nonlinear tracking differentiator is introduced for each follower to cancel complex differential calculations and the requirement for the leader's acceleration information. Furthermore, the auxiliary control laws for collision avoidance and connectivity preservation are designed based on the artificial potential field method, which plays an important role during the formation shaping. Finally, complete stability analysis and vivid numerical simulation are carried out.

show abstract

Designing Distributed Specified-Time Consensus Protocols for Linear Multiagent Systems Over Directed Graphs

Cited by 178 publications

References 46 publications

A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

Event‐triggered tracking control of heterogeneous multiagent systems based on two kinds of observers with asymmetric delay

Robust distributed formation control with prescribed performance for nonlinear multi‐agent systems subjected to compound disturbances

Contact Info

Product

Resources

About