Event‐triggered leader‐following consensus for multi‐agent systems with external disturbances under fixed and switching topologies

Mu, Rui; Wei, Airong; Li, Haitao; Wang, Zi‐Ming

doi:10.1049/iet-cta.2019.0925

Cited by 25 publications

(6 citation statements)

References 40 publications

(54 reference statements)

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“…Disturbances affect the performance of the controller [44] and the estimation [45]. MASs are subject to these type of undesired inputs which disturb the performance of the consensus [46]. To achieve a consensus in the context of MASs means that the agents are synchronized with respect to their states.…”

Section: Focus Of Coordination Of Multiple Robots Ismentioning

confidence: 99%

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

et al. 2021

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In this paper, a robust leader-following consensus protocol for multi-agent systems (MASs) subject to faults in the information exchange and disturbance is presented. The problem under consideration is to guarantee the convergence of the agent trajectories to a leader agent when all the agent followers are under faults in the information exchange as smooth time-varying delays and disturbances. The main contribution in this paper is the design of a robust leader-following control through the Lyapunov approach and an optimal H ∞ criterion such that all agents follow a virtual leader agent despite faults in the information exchange and disturbances. Linear matrix inequalities (LMIs)-based conditions are obtained whose solution allows computing the robust controller gain. In order to show the effectiveness of the proposed approach, numerical examples are carried out comparing a state-of-the-art approach and the proposed strategy in a fleet of unmanned aerial vehicles (UAVs) subject to wind turbulence which are shown to achieve the formation control.INDEX TERMS Consensus, communication faults, leader-following consensus, multi-agent systems.

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Section: Focus Of Coordination Of Multiple Robots Ismentioning

confidence: 99%

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

et al. 2021

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“…Furthermore, self-triggered strategy was developed in [16] to avoid the continuous monitoring of event-triggered condition. Moreover, fruitful research results on event-based consensus problem have been established in [17][18][19] and references therein.…”

Section: Introductionmentioning

confidence: 99%

Triggered finite‐time consensus of first‐order multi‐agent systems with input saturation

Zheng

Fan

Liu

et al. 2022

IET Control Theory & Appl

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Input saturation, which brings input non-linearity to systems and limits the closed-loop systems' performances severely, is an ubiquitous problem in practice. Here, triggered finitetime consensus problem of disturbed leader-follower multi-agent systems is addressed under input saturation constraint. To overcome the coupling of the non-linearity and finitetime convergence together with input saturation, non-linear triggered control protocol has been proposed, which is confirmed through a two-step stabilization procedure. First, the saturated closed-loop system is designed to be asymptotically stable, under which the systems converge into a desaturated region in finite time. Then in the second step, with the proposed control protocol, the desaturated closed-loop multi-agent systems can achieve practical finite-time consensus. In addition, to get rid of continuous communication in the monitoring of event-triggered condition, a self-triggered approach is further proposed. With rigorous analyses, practical finite-time consensus can be achieved for the overall closed-loop systems and Zeno behavior is also excluded. Simulations are carried out in detail to illustrate the theoretical results in this study.

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“…The Lyapunov function method is utilized to analyze the convergence. In the work of [ 14 ], the problem of event-triggered leader-following consensus problem for multiagent systems with external disturbances is addressed under switching topologies. A novel distributed event-triggered protocol is proposed to realize disturbance rejection based on extended state observer.…”

Section: Introductionmentioning

confidence: 99%

Intelligent L2-L∞ Consensus of Multiagent Systems under Switching Topologies via Fuzzy Deep Q Learning

Cheng

Song

et al. 2022

Computational Intelligence and Neuroscience

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The problem of intelligent L2-L∞ consensus design for leader-followers multiagent systems (MASs) under switching topologies is investigated based on switched control theory and fuzzy deep Q learning. It is supposed that the communication topologies are time-varying, and the model of MASs under switching topologies is constructed based on switched systems. By employing linear transformation, the problem of consensus of MASs is converted into the issue of L2-L∞ control. The consensus protocol is composed of the dynamics-based protocol and learning-based protocol, where the robust control theory and deep Q learning are applied for the two parts to guarantee the prescribed performance and improve the transient performance. The multiple Lyapunov function (MLF) method and mode-dependent average dwell time (MDADT) method are combined to give the scheduling interval, which ensures stability and prescribed attenuation performance. The sufficient existing conditions of consensus protocol are given, and the solutions of the dynamics-based protocol are derived based on linear matrix inequalities (LMIs). Then, the online design of the learning-based protocol is formulated as a Markov decision process, where the fuzzy deep Q learning is utilized to compensate for the uncertainties and achieve optimal performance. The variation of the learning-based protocol is modeled as the external compensation on the dynamics-based protocol. Therefore, the convergence of the proposed protocol can be guaranteed by employing the nonfragile control theory. In the end, a numerical example is given to validate the effectiveness and superiority of the proposed method.

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Event‐triggered leader‐following consensus for multi‐agent systems with external disturbances under fixed and switching topologies

Cited by 25 publications

References 40 publications

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

Robust Formation Control Based on Leader-Following Consensus in Multi-Agent Systems With Faults in the Information Exchange: Application in a Fleet of Unmanned Aerial Vehicles

Triggered finite‐time consensus of first‐order multi‐agent systems with input saturation

Intelligent L2-L∞ Consensus of Multiagent Systems under Switching Topologies via Fuzzy Deep Q Learning

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