Consensus Control for a Class of Linear Multiagent Systems using a Distributed Integral Sliding Mode Strategy
About: This article is published in Journal of The Franklin Institute-engineering and Applied Mathematics.The article was published on 2021-12-01 and is currently open access. It has received 5 citations till now. The article focuses on the topics: Integral sliding mode & Control theory (sociology).
Citations
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TL;DR: In this article , a distributed sliding mode controller is proposed for ensuring the stochastic consensus of a multi-agent system (MAS) subject to DoS attack, which may occur on each transmission channel independently and randomly according to the Bernoulli distribution.
Abstract: The consensus problem for a multi-agent system (MAS) is investigated in this paper via a sliding mode control mechanism subject to stochastic DoS attack, which may occur on each transmission channel independently and randomly according to the Bernoulli distribution. A distributed dynamic event-triggered strategy is implemented on the communication path among agents, where dynamic parameters are introduced to adjust the threshold of event-triggered condition. After that, a distributed sliding mode controller is proposed for ensuring the stochastic consensus of the MAS. Meantime, a minimization problem is solved to obtain the correct controller gain matrix. At last, a numerical example is shown to demonstrate the presented results.
2 citations
TL;DR: In this article , an adaptive cooperative control strategy is proposed for an air-ground system with actuator saturation, which consists of four tracking differentiators, four adaptive extended state observers and two adaptive integral SMC laws.
Abstract: In this article, an adaptive cooperative control strategy is proposed for an air‐ground system with actuator saturation. The air‐ground system with actuator saturation includes a ground vehicle with road bumps and a quadrotor with gust winds. The adaptive cooperative control strategy is composed of four tracking differentiators, four adaptive extended state observers and two adaptive integral SMC laws. Based on Silverman canonical transformation and pole placement, the adaptive extended state observers are designed to estimate disturbances from the road bumps and gust winds. The adaptive integral SMC laws are proposed to achieve cooperation between the ground vehicle and the quadrotor in the air‐ground system with actuator saturation. Simulation results are provided to show effectiveness of the adaptive cooperative control strategy by a ground vehicle and a quadrotor.
1 citations
TL;DR: In this article , a new event-based formation control strategy is developed for multi-UAV systems under directed topology by utilizing a control compensation approach, where sufficient conditions for the UAV system to achieve the desired formation are acquired.
Abstract: This paper focuses on the problem of formation control for multiple unmanned aerial vehicles (UAV) subject to cyber attacks by a novel event-triggered communication scheme. An average method is introduced to design the triggering condition of this communication scheme, by which the amount of wrong triggering events caused by the sudden change of system states is greatly decreased, thereby saving a great deal of network bandwidth and reducing network congestion. Considering cyber attacks, a new event-based formation control strategy is developed for multi-UAV systems under directed topology by utilizing a control compensation approach. Sufficient conditions for the multi-UAV system to achieve the desired formation are acquired. Finally, a simulation example is undertaken to demonstrate the effectiveness of the theoretical results.
1 citations
TL;DR: In this paper , a distributed sliding mode controller is proposed for ensuring the stochastic consensus of a multi-agent system (MAS) subject to DoS attack, which may occur on each transmission channel independently and randomly according to the Bernoulli distribution.
Abstract: The consensus problem for a multi-agent system (MAS) is investigated in this paper via a sliding mode control mechanism subject to stochastic DoS attack, which may occur on each transmission channel independently and randomly according to the Bernoulli distribution. A distributed dynamic event-triggered strategy is implemented on the communication path among agents, where dynamic parameters are introduced to adjust the threshold of event-triggered condition. After that, a distributed sliding mode controller is proposed for ensuring the stochastic consensus of the MAS. Meantime, a minimization problem is solved to obtain the correct controller gain matrix. At last, a numerical example is shown to demonstrate the presented results.
04 May 2022
TL;DR: In this article , the dynamic linearization model of a large-scale interconnected system is established, and the local adjacency error is defined, where the strong robustness in the presence of external interference can be guaranteed by design.
Abstract: In the process of chemical production, each subsystem is coupled with the other to form an interconnected system. On the one hand, the interconnected system has a physical correlation. On the other hand, the subsystem also has a topological relationship in communication for consensus control. In this paper, the dynamic linearization model of a large-scale interconnected system is established, and the local adjacency error is defined. The strong robustness in the presence of external interference can be guaranteed by design. Theoretical analysis shows that the designed controller has good stability, and the effect of the controller on the interconnected system is verified by simulation.
References
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TL;DR: This survey gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control.
Abstract: Disturbance-observer-based control (DOBC) and related methods have been researched and applied in various industrial sectors in the last four decades. This survey, at first time, gives a systematic and comprehensive tutorial and summary on the existing disturbance/uncertainty estimation and attenuation techniques, most notably, DOBC, active disturbance rejection control, disturbance accommodation control, and composite hierarchical antidisturbance control. In all of these methods, disturbance and uncertainty are, in general, lumped together, and an observation mechanism is employed to estimate the total disturbance. This paper first reviews a number of widely used linear and nonlinear disturbance/uncertainty estimation techniques and then discusses and compares various compensation techniques and the procedures of integrating disturbance/uncertainty compensation with a (predesigned) linear/nonlinear controller. It also provides concise tutorials of the main methods in this area with clear descriptions of their features. The application of this group of methods in various industrial sections is reviewed, with emphasis on the commercialization of some algorithms. The survey is ended with the discussion of future directions.
1,849 citations
TL;DR: The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems.
1,252 citations
TL;DR: This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics and finds that the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
Abstract: This technical brief considers the distributed consensus problems for multi-agent systems with general linear and Lipschitz nonlinear dynamics. Distributed relative-state consensus protocols with an adaptive law for adjusting the coupling weights between neighboring agents are designed for both the linear and nonlinear cases, under which consensus is reached for all undirected connected communication graphs. Extensions to the case with a leader-follower communication graph are further studied. In contrast to the existing results in the literature, the adaptive consensus protocols here can be implemented by each agent in a fully distributed fashion without using any global information.
708 citations
TL;DR: This note shows how to select the projection matrix in such a way that the euclidean norm of the resulting perturbation is minimal, which is particularly useful if integral sliding-mode control is to be combined with other methods to further robustify against unmatched perturbations.
Abstract: The robustness properties of integral sliding-mode controllers are studied. This note shows how to select the projection matrix in such a way that the euclidean norm of the resulting perturbation is minimal. It is also shown that when the minimum is attained, the resulting perturbation is not amplified. This selection is particularly useful if integral sliding-mode control is to be combined with other methods to further robustify against unmatched perturbations. H/sub /spl infin// is taken as a special case. Simulations support the general analysis and show the effectiveness of this particular combination.
535 citations
TL;DR: This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics for both the cases without and with a leader whose control input might be nonzero and time varying, and proposes two types of distributed adaptive dynamic consensus protocols.
516 citations
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