Free-Will Arbitrary Time Consensus for Multiagent Systems

Pal, Ajit; Yu, Xinghuo; Nagar, Shyam Krishna; Xiong, Xiaogang

doi:10.1109/tcyb.2020.3032217

Cited by 48 publications

(51 citation statements)

References 37 publications

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“…We noticed that it is quite complex to construct Lyapunov candidate function to show the stability of the above non-autonomous nonlinear system in Equation (9). Moreover, using the classical contraction, it is quite tedious to prove the largest eigenvalue of the Jacobian matrix of the system in Equation ( 9) to be negative definite for exponential convergence of this system as this matrix is large and contains the time-varying non-linear terms.…”

Section: Examplementioning

confidence: 99%

Consensus problems in multiagent systems: A vector based contraction approach

Singh

Xiong

Ghosh

et al. 2021

IET Control Theory & Appl

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This paper addresses the exploitation of vector based contraction theory to synchronize the motion of agents in multiagent systems. The convergence analysis of the agents using this theory provides a flexible frame as the components of a vector distance norm follow less stringent conditions than classical contraction analysis. The key feature is that it encompasses the formulation of some comparison system, as a result, the problem of convergence analysis of a complex multiagent system reduces to the convergence analysis of a much simpler comparison system. Hence, despite the nonlinearities, the methods of designing consensus controls remain simple as compared to the existing literature. We address four different cases: 1) consensus of third-order dynamics multiagent systems subjected to acceleration and input constraints; 2) consensus of multiagent systems with heterogeneous nodes under communication imperfections; 3) synchronization of multiagent systems with connected and disconnected switching topologies; 4) synchronization in networked systems with time-varying couplings. Moreover, an effective synchronization control scheme for a class of multiagent systems with underactuated agent dynamics is developed using the method of aggregation of comparison systems. Finally, simulation results are illustrated that show the validity of the mathematical results.

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Section: Examplementioning

confidence: 99%

Consensus problems in multiagent systems: A vector based contraction approach

Singh

Xiong

Ghosh

et al. 2021

IET Control Theory & Appl

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“…An extension of [5] to prespecified time bearing-only formation control is given in [13]. Recently, free-will arbitrary time (FwAT) consensus protocols, built upon the results in [14], are presented in [1], [15]. In FwAT consensus, the settling time is bounded by a preset finite time t f , which does not depend on the initial condition nor any system parameter.…”

Section: Introductionmentioning

confidence: 99%

“…In FwAT consensus, the settling time is bounded by a preset finite time t f , which does not depend on the initial condition nor any system parameter. The settling time bound t f is explicitly available in the designed consensus laws and can be prespecified arbitrarily [1], [15]. Furthermore, the design and convergence analysis of FwAT consensus laws [1], [15] are simpler than those in [5], [13].…”

Section: Introductionmentioning

confidence: 99%

“…The settling time bound t f is explicitly available in the designed consensus laws and can be prespecified arbitrarily [1], [15]. Furthermore, the design and convergence analysis of FwAT consensus laws [1], [15] are simpler than those in [5], [13]. However, existing works in prespecified time consensus [1], [5], [15] have been proposed for only first-order integrator dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the design and convergence analysis of FwAT consensus laws [1], [15] are simpler than those in [5], [13]. However, existing works in prespecified time consensus [1], [5], [15] have been proposed for only first-order integrator dynamics.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Free-Will Arbitrary Time Consensus Protocols with Diffusive Coupling

Tran¹,

Trinh²,

Nguyen³

et al. 2021

Preprint

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In this technical note, we first clarify a technical issue in the convergence proof of a free-will arbitrary time (FwAT) consensus law proposed recently in Pal et al. IEEE Trans. Cybern. (2020) [1], making the results questionable. We then propose free-will arbitrary time consensus protocols for multi-agent systems with first-and second-order dynamics, respectively, and with (possibly switching) connected interaction graphs. Under the proposed consensus laws, we show that an average consensus is achieved in a free-will arbitrary prespecified time. Further, the proposed consensus laws are distributed in the sense that information is only communicated locally between neighboring agents; unlike the average consensus in [1] that uses a deformed Laplacian.

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Predefined‐time adaptive backstepping control for a class of nonlinear dynamical systems with parametric uncertainties

Singh,

Kamal,

Ghosh

2024

Adaptive Control & Signal

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SummaryIn this article, we address the problem of achieving predefined‐time control for a class of nonlinear dynamical systems with parameter uncertainties. We introduce an adaptive predefined‐time control algorithm based on integrator backstepping for th order nonlinear systems. Using Lyapunov's stability theory, we establish that the proposed predefined time control approach, combined with an adaptive law, ensures the boundedness of all signals within the closed‐loop system. A notable advantage of our method is its potential to achieve convergence within a predetermined time frame. To validate our approach's efficacy, we present a practical example involving a 2 DOF helicopter, demonstrating the effectiveness of the proposed scheme.

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Free-Will Arbitrary Time Consensus for Multiagent Systems

Cited by 48 publications

References 37 publications

Consensus problems in multiagent systems: A vector based contraction approach

Consensus problems in multiagent systems: A vector based contraction approach

Free-Will Arbitrary Time Consensus Protocols with Diffusive Coupling

Predefined‐time adaptive backstepping control for a class of nonlinear dynamical systems with parametric uncertainties

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