Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

Ménard, Tomas; Ajwad, Syed Ali; Moulay, Emmanuel; Coirault, Patrick; Defoort, Michaël

doi:10.1016/j.automatica.2020.109176

Cited by 40 publications

(15 citation statements)

References 32 publications

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“…From the proof in Appendix E, the detail expression of δ i (ι e , ι ω , T i ) could be complex and may be conservative. This is a common case when adopting Lyapunov function method [36], [37]. However, according to the property of δ i (ι e , ι ω , T i ), we know the regulation error can be made arbitrary small by tuning the design parameters ι e , ι ω , T i .…”

Section: Theorem 4 Consider the Multi-agent Systems (1)-(3) With The ...mentioning

confidence: 99%

Semi-global Periodic Event-triggered Output Regulation for Nonlinear Multi-agent Systems

Zheng¹,

Shi²,

Zhang³

2022

Preprint

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This study focuses on periodic event-triggered (PET) cooperative output regulation problem for a class of nonlinear multi-agent systems. The key feature of PET mechanism is that event-triggered conditions are required to be monitored only periodically. This approach is beneficial for Zeno behavior exclusion and saving of battery energy of onboard sensors. At first, new PET distributed observers are proposed to estimate the leader information. We show that the estimation error converges to zero exponentially with a known convergence rate under asynchronous PET communication. Second, a novel PET output feedback controller is designed for the underlying strict feedback nonlinear multi-agent systems. Based on a state transformation technique and a local PET state observer, the cooperative semiglobal output regulation problem can be solved by the proposed new control design technique. Simulation results of multiple Lorenz systems illustrate that the developed control scheme is effective.

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Section: Theorem 4 Consider the Multi-agent Systems (1)-(3) With The ...mentioning

confidence: 99%

Semi-global Periodic Event-triggered Output Regulation for Nonlinear Multi-agent Systems

Zheng¹,

Shi²,

Zhang³

2022

Preprint

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“…In order to reject external disturbances in multi-agent systems, H ∞ optimization problem has been classically studied from the robust control theory in different MASs works [47]. H ∞ optimization problem has been studied for high-order multi-agent systems with Lipschitz nonlinearities and switching topologies [48], Lipschitz nonlinear multi-agent systems with uncertain dynamics [49], event-based strategy in second-order multi-agent systems [50], discrete-time nonlinear multi-agent systems with missing measurements [51], delays and parameter uncertainties [52]. Nevertheless, the aforementioned works have not considered degradation in the information exchange dependent on the distances between agents.…”

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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“…However, these articles only focus on double-integrator MAS systems. A leader-following consensus algorithm for a fully actuated N -order MAS with Lipschitz nonlinearities is presented in [29]. However, it is not straightforward to extend this technique for the time-varying formation tracking problem of under-actuated nonlinear multi-quadrotor systems.…”

Section: Introductionmentioning

confidence: 99%

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

et al. 2022

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In this article, a distributed formation tracking controller is proposed for Multi-Agent Systems (MAS) consisting of quadrotors. It is considered that each quadrotor in the MAS only shares its translation position information with its neighbors. Moreover, position information is transmitted at nonuniform and asynchronous time instants. The control system is divided into an outer-loop for the position control and an inner-loop for the attitude control. A continuous-discrete time observer is used in the outer-loop to estimate both position and velocity of the the quadrotor and its neighbors using discrete position information it receives. Then, these estimated states are used to design the position controller in order to enable quadrotors to generate the required geometric shape. A finite-time attitude controller is designed to track the desired attitude as dictated by the position controller. Finally, a closed-

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Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

Cited by 40 publications

References 32 publications

Semi-global Periodic Event-triggered Output Regulation for Nonlinear Multi-agent Systems

Semi-global Periodic Event-triggered Output Regulation for Nonlinear Multi-agent Systems

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

Distributed time-varying formation tracking of multi-quadrotor systems with partial aperiodic sampled data

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