Fully Distributed Formation-Containment Control of Heterogeneous Linear Multiagent Systems

Jiang, Wei; Wen, Guoguang; Peng, Zhaoxia; Huang, Tingwen; Rahmani, Ahmed

doi:10.1109/tac.2018.2887409

Cited by 142 publications

(51 citation statements)

References 28 publications

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“…According to (26), we can get 2 > 2 , because cos ≤ 1. According to (27), we can change it to the following form.…”

Section: Resultsmentioning

confidence: 99%

“…In [26], Long et al further investigated second-order controllability of two-time-scale multiagent systems, and some more effective second-order controllability conditions would be determined only by the eigenvalues of system matrices. In [27], a new format of time-varying formation shape was proposed, and a new class of distributed adaptive observer-based controllers was designed under the mild assumption that both leaders and followers were introspective. As we know, most existing results have been obtained mainly based on the nodes of the network system.…”

Section: Introductionmentioning

confidence: 99%

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Weighted Couple‐Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative‐Competitive Interactions and Time Delays

Xiong

et al. 2019

Complexity

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In this paper, the weighted couple-group consensus of continuous-time heterogeneous multiagent systems with input and communication time delay is investigated. A novel weighted couple-group consensus protocol based on cooperation and competition interaction is designed, which can relax the in-degree balance condition. By using graph theory, general Nyquist criterion and Gerschgorin disc theorem, the time delay upper limit that the system may allow is obtained. The conclusions indicate that there is no relationship between weighted couple-group consensus and communication time delay. When the agents input time delay, the coupling weight between the agents, and the systems control parameters are satisfied, the multiagent system can converge to any given weighted coupling group consistent state. The experimental simulation results verify the correctness of the conclusion.

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“…According to (26), we can get 2 > 2 , because cos ≤ 1. According to (27), we can change it to the following form.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Weighted Couple‐Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative‐Competitive Interactions and Time Delays

Xiong

et al. 2019

Complexity

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show abstract

“…A more general and challenging problem in multi‐agent systems is the formation‐containment, which has been recently studied from many point of views such as: stochastic communication topologies, heterogeneous linear systems, finite‐time convergence, and with collision avoidance . The main purpose in this problem is to stabilize multiple leaders on a formation and move a group of followers toward the convex hull constituted by the leaders.…”

Section: Introductionmentioning

confidence: 99%

Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

Silva

Souza

Pimenta

2020

Intl J Robust & Nonlinear

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This paper is concerned with the problem of formation-containment on networked systems, with interconnected systems modeled by the Euler-Lagrange equation with bounded inputs and time-varying delays on the communication channels. The main results are the design of control algorithms and sufficient conditions to ensure the convergence of the network. The control algorithms are designed as distributed dynamic controllers, in such a way that the number of neighbors of each agent is decoupled from the bound of the control inputs. That is, in the proposed approach the amplitude of the input signal does not directly increase with the number of neighbors of each agent. The proposed sufficient conditions for the asymptotic convergence follow from the Lyapunov-Krasovskii theory and are formulated in the linear matrix inequalities framework. The conditions rely only on the upper bound of delays and on a subset of the controller parameters, but they do not depend on the model of each agent, which makes it suitable for networks with agents governed by distinct dynamics. In order to illustrate the effectiveness of the proposed method we present numerical examples and compare with similar approaches existing in the literature. K E Y W O R D S Communication delays, Euler-Lagrange systems, formation-containment, input saturation 1 Int J Robust Nonlinear Control. 2020;30:2999-3022. wileyonlinelibrary.com/journal/rnc• the formation-containment is approached taking into account communication delays among agents and input saturation simultaneously, which to the best of authors' knowledge it is a scenario that has not yet been addressed on the literature. Additionally, the proposed distributed control strategy does not depend on the knowledge of the agents inertia matrix nor the Coriolis forces, it also does not rely on the neighbors velocity information. This reduces the communication burden on the network and provides a robust control strategy.Secondly, considering the consensus, a particular case of the main problem investigated in this manuscript, and comparing with those from the literature that primarily study consensus under similar conditions, the following contributions can also be highlighted:• input saturation was previously studied in the context of consensus problem in References 19 and 45, but with some important distinctions from our approach, namely: (a) we now propose a strategy to deal with the input saturation and communication delays simultaneously, (b) different from Reference 45 our dynamic controller does not rely on the knowledge of inertia nor Coriolis matrices and, (c) in contrast with both approaches, as mentioned above, the control strategy proposed here does not depend on relative velocity measurements;• regarding the communication delays among agents, it is noteworthy that the results of Nuño and collaborators 20,21,37,46 seem to contribute with the most notorious conditions on communication delays on the consensus of networked Euler-Lagrange systems. For example, the results in References 33 and 34 hand...

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“…But multiple NNs can solve some difficult problems through cooperation with each other so that the cost can be reduced. Recently, some cooperative control problems [32][33][34][35] involving passivity and synchronization [36][37][38] have been concerned in multiple NNs. Unfortunately, as far as we know, the passivity and synchronization of multiple multi-delayed NNs (MMDNNs) via impulsive control have never been considered.…”

Section: Introductionmentioning

confidence: 99%

Passivity and Synchronization of Multiple Multi-Delayed Neural Networks via Impulsive Control

Yong

Yang

Liu

et al. 2020

Discrete Dynamics in Nature and Society

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This paper is concerned with the passivity and synchronization for multiple multi-delayed neural networks (MMDNNs) under impulsive control. To ensure the passivity, input strict passivity, and output strict passivity in MMDNNs, a suitable impulsive controller is designed. Moreover, an impulsive time-dependent Lyapunov functional is exploited to obtain the synchronization criterion of MMDNNs, where the criterion is formulated by linear matrix inequalities. Numerical examples are given to verify the validity of the theoretical results.

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Fully Distributed Formation-Containment Control of Heterogeneous Linear Multiagent Systems

Cited by 142 publications

References 28 publications

Weighted Couple‐Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative‐Competitive Interactions and Time Delays

Weighted Couple‐Group Consensus Analysis of Heterogeneous Multiagent Systems with Cooperative‐Competitive Interactions and Time Delays

Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

Passivity and Synchronization of Multiple Multi-Delayed Neural Networks via Impulsive Control

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