This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

This paper addresses the fixed-time leader–follower consensus problem for high-order integrator multiagent systems subject to matched external disturbances. A new cascade control structure, based on a fixed-time distributed observer, is developed to achieve the fixed-time consensus tracking control. A simulation example is included to show the efficacy and the performance of the proposed control structure with respect to different initial conditions.

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Fixed-Time Consensus Tracking for Multiagent Systems With High-Order Integrator Dynamics

Fixed-time cooperative control is currently a hot research topic in multiagent systems since it can provide a guaranteed settling time, which does not depend on initial conditions. Compared with asymptotic cooperative control algorithms, fixed-time cooperative control algorithms can achieve better closed-loop performance and disturbance rejection properties. Different from finite-time control, fixed-time cooperative control produces the faster rate of convergence and provides an explicit estimation of the settling time independent of initial conditions, which is desirable for multiagent systems. This paper aims at presenting an overview of recent advances in fixed-time cooperative control of multiagent systems. Some fundamental concepts about finite- and fixed-time stability and stabilization are first recalled with insight understanding. Then, recent results in finite- and fixed-time cooperative control are reviewed in detail and categorized according to different agent dynamics. Finally, this paper raises several challenging issues that need to be addressed in the near future.

An Overview of Recent Advances in Fixed-Time Cooperative Control of Multiagent Systems

Multi-agent systems (MASs) have received tremendous attention from scholars in different disciplines, including computer science and civil engineering, as a means to solve complex problems by subdividing them into smaller tasks. The individual tasks are allocated to autonomous entities, known as agents. Each agent decides on a proper action to solve the task using multiple inputs, e.g., history of actions, interactions with its neighboring agents, and its goal. The MAS has found multiple applications, including modeling complex systems, smart grids, and computer networks. Despite their wide applicability, there are still a number of challenges faced by MAS, including coordination between agents, security, and task allocation. This survey provides a comprehensive discussion of all aspects of MAS, starting from definitions, features, applications, challenges, and communications to evaluation. A classification on MAS applications and challenges is provided along with references for further studies. We expect this paper to serve as an insightful and comprehensive resource on the MAS for researchers and practitioners in the area.

Multi-Agent Systems: A Survey

Fixed-time stability of dynamical systems and fixed-time synchronization of coupled discontinuous neural networks

Fixed-time coordinated tracking for second-order multi-agent systems with bounded input uncertainties

In this brief, a new class of finite-time consensus controller is designed for second-order multi-agent systems subject to input saturation. Only a single saturation function is involved in the proposed controller, which distinguishes it from the previous ones. The proposed controllers achieve finite-time consensus using only relative state measurements. Both leaderless and leader-following consensus problems are studied. Comparisons of the proposed controllers with other existing controllers are shown through simulation examples.

Finite-Time Consensus for Second-Order Multi-Agent Systems With Input Saturation

In this paper, we study the finite-time consensus problems with globally bounded convergence time also known as fixed-time consensus problems for multi-agent systems subject to directed communication graphs. Two new distributed control strategies are proposed such that leaderless and leader-follower consensus are achieved with convergence time independent on the initial conditions of the agents. Fixed-time formation generation and formation tracking problems are also solved as the generalizations. Simulation examples are provided to demonstrate the performance of the new controllers.

Finite-time consensus for multi-agent systems with globally bounded convergence time under directed communication graphs

In this paper, exponential consensus of general linear multiagent systems with Lipschitz nonlinear dynamics using sampled-data information is investigated. Both leaderless and leader-following consensuses are considered. Using input-delay approach, the resulting sampled-data closed-loop systems are first reformulated as continuous systems with time-varying delay in the control input. Then, decoupled conditions in terms of linear matrix equality (LMI) on the Lipschitz constant, the decay rate, the communication graph parameters, and the control gain matrix to guarantee exponential consensus are derived using novel Lyapunov functionals. Based on the sufficient conditions, controller design methods are also provided in the form of decoupled LMIs. Finally, simulation examples including the consensus of Chua’s circuit systems are given to illustrate the effectiveness of the obtained results.

Exponential Consensus of Multiagent Systems With Lipschitz Nonlinearities Using Sampled-Data Information

In this paper, the finite-time consensus problem for second-order nonlinear multiagent systems under communication constraints is investigated, where each agent has a limited sensing range. A distributed discontinuous control protocol is proposed to make a team of agents reach consensus in finite time when disturbances exist in multiagent systems. Then, for multiagent systems without disturbances, a new piece-wise continuous protocol is presented to make the agents achieve consensus in finite time. Furthermore, it is shown that initial interaction patterns are preserved under these control protocols. Finally, some numerical examples are provided to illustrate the theoretical results.

Junjie Fu

Papers

Fixed-time coordinated tracking for second-order multi-agent systems with bounded input uncertainties

Finite-Time Consensus for Second-Order Multi-Agent Systems With Input Saturation

Finite-time consensus for multi-agent systems with globally bounded convergence time under directed communication graphs

Exponential Consensus of Multiagent Systems With Lipschitz Nonlinearities Using Sampled-Data Information

Finite-Time Connectivity-Preserving Consensus for Second-Order Nonlinear Multiagent Systems