Sliding mode control for multi‐agent systems under stochastic communication protocol

This article pursues the robust consensus for linear discrete‐time multi‐agent systems with unknown dynamics and random uncertain channels. Stochastic multiplicative uncertainties depending on relative states of agents inevitably appear in the signal transmission channels. To handle these uncertainties, the distributed robust controllers are designed. Before designing this robust controller, the optimal control problem of a single‐agent system is considered first. Based on the technology of adaptive dynamic programming, a model‐free off‐policy algorithm is proposed to solve the optimal controller for every agent with fully unknown system dynamics. According to the theory of mean square stability, it is revealed that the distributed robust controller can be obtained by using the optimal controller of the single‐agent system and other related parameters without relying on the dynamic information of the systems. Besides, the relationship between uncertainty and the robust controller is described by a sufficient condition. Finally, to demonstrate the effectiveness of the theoretical analysis, a numerical example is presented.

Section: Robust Consensus Of Mass With Uncertain Channelsmentioning

confidence: 92%

“…28 The ARE is difficult to solve because A and B are unknown. Therefore, a model-free algorithm will be proposed to solve (12) by utilizing the ideal of off-policy.…”

Section: Optimal Control Of Single-agent Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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ADP‐based robust consensus for multi‐agent systems with unknown dynamics and random uncertain channels

Xiong,

Ma,

Zhou

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Dynamic boundary layer super‐twisting sliding mode control algorithm based on RBF neural networks for a class of leader‐follower multi‐agent systems

Jia,

Shangguan,

Zheng

2023

In this paper, the consensus problem of robust sliding mode fault tolerance for a class of leader‐follower multi‐agent systems is discussed. Aiming at a second‐order multi‐agent system with unknown model uncertainty and external disturbance, a new super‐twisting sliding mode control method based on a dynamic boundary layer and neural network is proposed. Firstly, the super‐twisting controller is designed by introducing two new variables, the convergence speed of the control system is greatly improved, and the symbolic function is replaced by an improved dynamic boundary layer, which will be continuously adjusted with the system states, the tracking accuracy of the system is improved, and the chattering problem caused by symbolic function is overcome effectively. Secondly, an radial basis function neural network is used to realize the adaptive approximation to the completely unknown model, so that the controller does not need to depend on the precise mathematical model of the controlled system, and the stability of the closed‐loop system is ensured by adjusting the adaptiveweight. Thirdly, the stability of the whole system is analyzed by the Lyapunov method, and the upper bound of robust consensus error is given by constructing an equivalence relation, meanwhile, the upper bound of the final convergence of the sliding variable in the dynamic boundary layer is analyzed. Finally, the simulation results for a second‐order system show the superior performance of the proposed control algorithm, then it is extended to a class of application systems, and the same conclusion is obtained.

Event‐based privacy‐preserving security consensus of multi‐agent systems with encryption–decryption mechanism

Liu,

Deng,

Zha

et al. 2024

The article concentrates on exploring the issue of privacy‐preserving sliding mode consensus of multi‐agent systems (MASs) with disturbance. An encryption and decryption algorithm has been proposed to address data security and privacy issues during data transmission. To optimize network resource allocation, a dynamic event‐triggering mechanism has been introduced, which reduces the number of encrypted data while saving the computation cost. The consensus performance based on the sliding mode control strategy is achieved when the reachability of the slide‐mode surface is guaranteed, and then the slide‐mode controller is developed. Finally, an empirical demonstration through a numerical example validates the efficacy of the proposed strategy.