Prescribed-time formation tracking of second-order multi-agent networks with directed graphs

Ding, Teng-Fei; Ge, Ming‐Feng; Chen, Xiong; Liu, Zhiwei; Ling, Guang

doi:10.1016/j.automatica.2023.110997

Cited by 24 publications

(8 citation statements)

References 35 publications

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“…Figure 7 shows the formation tracking error ∥ δ(t) ∥ using controller (25) in [16], and controller (20) proposed in this paper with T equal to 2, 10 and 20, respectively. It can been seen that controller (25) in [16] needs about 20 s to stabilize the tracking error. As a comparison, using controller (20) proposed in this paper, the tracking error converges within prescribed time.…”

Section: Comparison With Existing Resultsmentioning

confidence: 99%

“…From Theorem 2, we can see that, in algorithm (21), the formation tracking error converges with a prescribed convergence time. As a comparison, using controller (25) in [16], only exponential convergence can be achieved. Therefore, the algorithm proposed in this paper can guarantee faster convergence.…”

Section: Fault-tolerant Affine Formation Control With a Prescribed Co...mentioning

confidence: 99%

“…A comparison of the proposed algorithm with that in [16] is given in Section 4 by a simulation example. The simulation result shows that using controller (20) proposed in this paper, the convergence is faster than that of controller (25) in [16].…”

mentioning

confidence: 91%

“…In practice, some agents are modeled as double-integrator dynamics. As far as the multi-agent systems with double-integrator dynamics are concerned, prescribed time approaches have been reported for consensus and formation control problems [24,25].…”

Section: Introductionmentioning

confidence: 99%

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Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Tang,

Li,

Yang

et al. 2023

Electronics

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There is an increasing interest in the affine formation control of multi-agent systems, because it can change the centroid, orientation and scale of the formation by controlling only a few leaders. In this paper, the fault-tolerant affine formation control problem is addressed for double-integrator multi-agent systems with partial loss of efficiency and bias faults. Firstly, in order to track the leaders with dynamically changing accelerations, an acceleration observer with prescribed time convergence is proposed, which can estimate the ideal acceleration for each follower. Then, based on the acceleration observer, a fault-tolerant control algorithm is given. A new Lyapunov function candidate is constructed, based on which a sufficient condition to achieve the control objective is derived. Theoretical analysis shows that the formation tracking error can converge to zero within a prescribed time, and remain in a small neighborhood of zero after that time. Finally, numerical simulations are given to show the effectiveness of the proposed algorithm and compare it with existing results.

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Section: Comparison With Existing Resultsmentioning

confidence: 99%

Section: Fault-tolerant Affine Formation Control With a Prescribed Co...mentioning

confidence: 99%

mentioning

confidence: 91%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Tang,

Li,

Yang

et al. 2023

Electronics

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show abstract

“…In the past few decades, distributed control for multi-agent systems has attracted researchers' attentions [1][2][3][4] due to its obvious advantages of low power consumption and high flexibility. Distributed optimal coordination is a hot research topic in distributed problems, which has been extensively applied in localization and sensor networks, and has achieved many important results in this field.…”

Section: Introductionmentioning

confidence: 99%

Resilient event‐triggered fault‐tolerant optimization for Euler–Lagrange plants with intermittent communication and asynchronous DoS attacks

Yuan,

Yao,

Park

et al. 2024

Intl J Robust & Nonlinear

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This paper investigates the distributed optimization problem of networked Euler–Lagrange (EL) systems with actuator faults and unknown model parameters. In order to solve this issue, some event‐triggered fault‐tolerant (ETFT) optimal coordination algorithms with the mechanism of intermittent communication and intermittent controller update are designed for the first time to compensate for the impact of physical faults on the system, and reduce communication costs and control resource consumption. For practical applications, it is difficult for the system to have a secure environment if there exist malicious attacks blocking network channels among agents. Therefore, the resilient ETFT optimal coordination with intermittent communication subject to asynchronous denial‐of‐service (DoS) attacks is considered. Especially, auxiliary systems with adaptive gains are introduced in the algorithms due to the unavailability of the EL model parameters, which also enable virtual data exchange between agents and protect actual state information. Note that the algorithms are fully distributed as the global topology information is not required. Finally, the feasibility of the proposed algorithms is verified through numerical simulation of examples.

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Data‐driven prescribed performance platooning sliding mode control under DoS attacks

Zhang,

Che

2024

Intl J Robust & Nonlinear

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SummaryIn this paper, a prescribed performance model‐free adaptive platooning sliding mode control (PP‐MFAP‐SMC) problem for the nonlinear vehicular platooning systems (VPSs) under denial‐of‐service (DoS) attacks is studied. Firstly, the partial form dynamic linearization (PFDL) technique is employed to convert the nonlinear VPSs into an equivalent linear data model, in which the nonlinear features of the VPSs are compressed into an unknown time‐varying pseudo gradient (PG) vector. Then, an observer is devised to acquire the estimation value of the unknown time‐varying PG vector. To lower the complication of the design, the constrained tracking error is converted into the unconstrained one. Based on which, the sliding mode control (SMC) strategy is proposed to enhance the robustness of the VPSs. Further, a PP‐MFAP‐SMC algorithm with an attack compensation mechanism is developed to ensure that the vehicular tracking errors of the position and velocity can converge to the predefined regions, respectively. Eventually, the effectiveness of the developed algorithm is demonstrated by an actual VPS with the comparisons.

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Prescribed-time formation tracking of second-order multi-agent networks with directed graphs

Cited by 24 publications

References 35 publications

Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Prescribed Time Fault-Tolerant Affine Formation Control for Multi-Agent Systems with Double-Integrator Dynamics

Resilient event‐triggered fault‐tolerant optimization for Euler–Lagrange plants with intermittent communication and asynchronous DoS attacks

Data‐driven prescribed performance platooning sliding mode control under DoS attacks

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