The intra-cluster lag consensus means that the agents in the same cluster can achieve lag consensus asymptotically while the agents in different clusters can achieve different consensus.In this paper,the authors inves...The intra-cluster lag consensus means that the agents in the same cluster can achieve lag consensus asymptotically while the agents in different clusters can achieve different consensus.In this paper,the authors investigate the observer-based intra-cluster lag consensus problems of multi-agent systems(MASs)with general linear dynamics and nonlinear dynamics via intermittent adaptive pinning control.The interaction network is considered to be weakly connected,i.e.,it is not necessary to be strongly connected,in-degree balanced or contain a directed spanning tree.To realise the intra-cluster lag consensus,a class of observers is designed to estimate the states of followers.Then a class of observer-based intermittent adaptive pinning control protocols is proposed according to the difference that the agents receive information source.Moreover,the pinning gains are designed to be intermittent adaptive and have an exponential convergence rate,which will effectively reduce communication costs,avoid the pinning gains being larger than those needed in real applications and guarantee the pinning gains quickly converge to steady value.Correspondingly,some sufficient consensus criteria are derived and rigorous proofs are given based on matrix theory and Lyapunov stability theory.Finally,the effectiveness for the proposed intermittent adaptive pinning control strategy is validated by a numerical simulation.展开更多
This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objectiv...This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objective is that the agents track the leader asymptotically with different time delays,i.e.,the agents in different groups reach delay consensus,while the agents in the same group reach identical consensus.To guarantee the cluster-delay consensus for the second-order multi-agent systems,a new control protocol is proposed.Then some corresponding conditions for cluster-delay consensus are derived by using Lyapunov directed method and matrix theory.Finally,the effectiveness of the theoretical analysis results are verified by some numerical simulations.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant Nos.61977004 and 61503016in part by the Fundamental Research Funds for the Central Universities under Grant Nos.YWF20-BJ-J-634 and YWF-19-BJ-J-259。
文摘The intra-cluster lag consensus means that the agents in the same cluster can achieve lag consensus asymptotically while the agents in different clusters can achieve different consensus.In this paper,the authors investigate the observer-based intra-cluster lag consensus problems of multi-agent systems(MASs)with general linear dynamics and nonlinear dynamics via intermittent adaptive pinning control.The interaction network is considered to be weakly connected,i.e.,it is not necessary to be strongly connected,in-degree balanced or contain a directed spanning tree.To realise the intra-cluster lag consensus,a class of observers is designed to estimate the states of followers.Then a class of observer-based intermittent adaptive pinning control protocols is proposed according to the difference that the agents receive information source.Moreover,the pinning gains are designed to be intermittent adaptive and have an exponential convergence rate,which will effectively reduce communication costs,avoid the pinning gains being larger than those needed in real applications and guarantee the pinning gains quickly converge to steady value.Correspondingly,some sufficient consensus criteria are derived and rigorous proofs are given based on matrix theory and Lyapunov stability theory.Finally,the effectiveness for the proposed intermittent adaptive pinning control strategy is validated by a numerical simulation.
基金supported by the Fundamental Research Funds for the Central Universities under Grant No.2017JBM067the National Natural Science Foundation of China under Grant Nos.61503016 and 61403019the National Key Research and Development Program of China under Grant No.2017YFB0103202。
文摘This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objective is that the agents track the leader asymptotically with different time delays,i.e.,the agents in different groups reach delay consensus,while the agents in the same group reach identical consensus.To guarantee the cluster-delay consensus for the second-order multi-agent systems,a new control protocol is proposed.Then some corresponding conditions for cluster-delay consensus are derived by using Lyapunov directed method and matrix theory.Finally,the effectiveness of the theoretical analysis results are verified by some numerical simulations.
