Hybrid-triggered consensus for multi-agent systems with time-delays,uncertain switching topologies, and stochastic cyber-attacks

We propose a new approach to discuss the consensus problem of multi-agent systems with time-varying delayed control inputs, switching topologies, and stochastic cyber-attacks under hybrid-triggered mechanism.A Bernoulli variable is used to describe the hybrid-triggered scheme, which is introduced to alleviate the burden of the network.The mathematical model of the closed-loop control system is established by taking the influences of time-varying delayed control inputs,switching topologies, and stochastic cyber-attacks into account under the hybrid-triggered scheme.A theorem as the main result is given to make the system consistent based on the theory of Lyapunov stability and linear matrix inequality.Markov jumps with uncertain rates of transitions are applied to describe the switch of topologies.Finally, a simulation example demonstrates the feasibility of the theory in this paper.

Consensus control of multi-manipulator systems based on disturbance observer under Markov switching topologies

In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are directed.First,a disturbance observer is presented to suppress the influence of unknown external disturbance,and the equivalent compensation is introduced into the control protocol in multi-manipulator systems.Then,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching topologies.Finally,two simulation examples verify the validity of the theoretical result.

Leader-following consensus of multi-agent systems with switching topologies and time-delays

This paper investigates the leader-following consensus problem of multi-agent systems where the leader is static and the controlling effect of each follower depends on its own state. The control protocols are proposed for two cases： i） for network with switching topologies and undirected information flow; ii） for network with directed information flow and communication time-delays. With the aid of several tools from algebraic graph, matrix theory and stability the- ory, the sufficient conditions guaranteeing leader-following consensus are obtained by constructing appropriate Lyapunov functions. Simulations are presented to demonstrate the effectiveness of our theoretical results.

Agreement coordination for second-order multi-agent systems with disturbances

This paper is devoted to the study of consensus problems for the second-order multi-agent systems with external disturbances, switching topology and commanication time-delay. Firstly, we perform a model transformation and separate the agreement states from the disagreement states. Secondly, according to this system, we derive a sufficient condition for consensus problem without disturbances by using the Lyapunov-based approach. Furthermore, we give a design criterion in terms of bilinear matrix inequality for the control protocol in the presence of disturbances. Finally, numerical simulations are provided to show the effectiveness of our strategies.

受脉冲扰动的多智能体系统的有限时间平均一致性

研究了脉冲扰动下具有切换拓扑的多智能体系统的有限时间平均一致。通过使用包括代数图论、有限时间稳定性定理及脉冲控制理论,建立了多智能体系统有限时间一致性的准则,同时估计出受脉冲干扰影响的停息时间。最后,通过一个算例验证了所得结论的有效性。仿真结果表明:脉冲扰动的次数、代数拓扑的连通度及系统的初始条件都会影响停息时间。

切换拓扑下具有干扰的非线性时滞多智能体一致性控制

研究了在切换拓扑条件下具有外界干扰的非线性时滞多智能体系统的领导-跟随一致问题。首先,通过跟随者及其相邻的智能体的输出信息设计动态补偿器;其次,利用补偿器状态设计控制器与状态依赖型切换信号来解决领导-跟随一致性控制问题;最后,通过数值仿真结果验证定理的有效性。