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Journal ArticleDOI

Pulse-Modulated Intermittent Control in Consensus of Multiagent Systems

TL;DR: A control framework, called pulse-modulated intermittent control, is proposed, which unifies impulsive control and sampled control and a lower bound of the asymptotic convergence factor is derived.
Abstract: This paper proposes a control framework, called pulse-modulated intermittent control, which unifies impulsive control and sampled control. Specifically, the concept of pulse function is introduced to characterize the control/rest intervals and the amplitude of the control. By choosing some specified functions as the pulse function, the proposed control scheme can be reduced to sampled control or impulsive control. The proposed control framework is applied to consensus problems of multiagent systems. Using discretization approaches and stability theory, several necessary and sufficient conditions are established to ensure the consensus of the controlled system. The results show that consensus depends not only on the network topology, the sampling period and the control gains, but also the pulse function. Moreover, a lower bound of the asymptotic convergence factor is derived as well. For a given pulse function and an undirected graph, an optimal control gain is designed to achieve the fastest convergence. In addition, impulsive control and sampled control are revisited in the proposed control framework. Finally, some numerical examples are given to verify the effectiveness of theoretical results.
Citations
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Journal ArticleDOI
TL;DR: A survey on recent advances in distributed cooperative control under a sampled-data setting, with special emphasis on the published results since 2011, and several challenging issues for future research are proposed.

292 citations

Journal ArticleDOI
TL;DR: A novel distributed event-triggered communication protocol based on state estimates of neighboring agents is proposed to solve the consensus problem of the leader-following systems and can greatly reduce the communication load of multiagent networks.
Abstract: In this paper, the leader-following consensus problem of high-order multiagent systems via event-triggered control is discussed. A novel distributed event-triggered communication protocol based on state estimates of neighboring agents is proposed to solve the consensus problem of the leader-following systems. We first investigate the consensus problem in a fixed topology, and then extend to the switching topologies. State estimates in fixed topology are only updated when the trigger condition is satisfied. However, state estimates in switching topologies are renewed with two cases: 1) the communication topology is switched or 2) the trigger condition is satisfied. Clearly, compared to continuous-time interaction, this protocol can greatly reduce the communication load of multiagent networks. Besides, the event-triggering function is constructed based on the local information and a new event-triggered rule is given. Moreover, “Zeno behavior” can be excluded. Finally, we give two examples to validate the feasibility and efficiency of our approach.

269 citations

Journal ArticleDOI
TL;DR: The robust fixed-time consensus problem for multiagent systems with nonlinear dynamics and uncertain disturbances under a weighted undirected topology is investigated and the achievement of consensus is shown to be robust against bounded uncertain disturbances affecting the agents.
Abstract: In this paper, the robust fixed-time consensus problem for multiagent systems with nonlinear dynamics and uncertain disturbances under a weighted undirected topology is investigated. Some nonlinear control protocols are proposed under which fixed-time consensus in the considered multiagent systems can be ensured. Compared with the initial-condition based finite-time consensus, it is theoretically shown that any prescribed convergence time for the achievement of consensus can be guaranteed within fixed time regardless of the initial conditions. Furthermore, the achievement of consensus is shown to be robust against bounded uncertain disturbances affecting the agents. Finally, some numerical examples are provided to illustrate the performance and effectiveness of the theoretical results.

208 citations

Journal ArticleDOI
TL;DR: A distributed coordination control law is developed for the dynamic task allocation among multiple redundant robot manipulators with limited communications and with the aid of a consensus filter to substantiate the efficacy of the proposed control law.
Abstract: The problem of dynamic task allocation in a distributed network of redundant robot manipulators for path-tracking with limited communications is investigated in this paper, where ${k}$ fittest ones in a group of ${n}$ redundant robot manipulators with ${n>k}$ are allocated to execute an object tracking task. The problem is essentially challenging in view of the interplay of manipulator kinematics and the dynamic competition for activation among manipulators. To handle such an intricate problem, a distributed coordination control law is developed for the dynamic task allocation among multiple redundant robot manipulators with limited communications and with the aid of a consensus filter. In addition, a theorem and its proof are presented for guaranteeing the convergence and stability of the proposed distributed control law. Finally, an illustrative example is provided and analyzed to substantiate the efficacy of the proposed control law.

203 citations


Cites background from "Pulse-Modulated Intermittent Contro..."

  • ...COOPERATION and competition play fundamental roles in the interaction of multiagent systems by enhancing the harmony and flexibility of the group and make multiagent systems advantageous in avoiding predators, foraging, energy conservation, and besieging and capturing prey [1]–[8]....

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  • ...They have been widely investigated and employed in many distributed problems, such as [2]–[8] as well as the references therein....

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  • ...Therefore, distributed cooperation of multiagent systems, such as the group of mobile robots, unmanned surface vessels, autonomous underwater vehicles, or unmanned aerial vehicles, has received considerable attention [2]–[8]....

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Journal ArticleDOI
TL;DR: It is theoretically shown that distributed consensus tracking in the closed-loop MASs equipped with the designed protocols can be ensured if each possible topology contains a directed spanning tree rooted at the leader and the dwell time for the switchings among different topology is less than a derived positive quantity.
Abstract: This paper deals with a consensus tracking problem for multiagent systems (MASs) with Lipschitz-type nonlinear dynamics and directed switching topology. Unlike most existing works where the relative full state measurements of neighboring agents are utilized, it is assumed that only the relative output measurements of neighboring agents are available for coordination. To achieve consensus tracking in the considered MASs, a new class of observer-based protocols is proposed. By appropriately constructing some topology-dependent multiple Lyapunov functions, it is theoretically shown that distributed consensus tracking in the closed-loop MASs equipped with the designed protocols can be ensured if each possible topology contains a directed spanning tree rooted at the leader and the dwell time for the switchings among different topology is less than a derived positive quantity. Interestingly, it is found that the communication topology for observers’ states may be independent with that of the feedback signals. The derived results are further extended to the case of directed switching topology with only average dwell time constraints. Finally, the effectiveness of the analytical results is demonstrated via numerical simulations.

193 citations


Cites background from "Pulse-Modulated Intermittent Contro..."

  • ...In [14], consensus of second-order MASs with pulse-modulated intermittent communication was investigated....

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References
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Journal ArticleDOI
TL;DR: This work considers the problem of finding a linear iteration that yields distributed averaging consensus over a network, i.e., that asymptotically computes the average of some initial values given at the nodes, and gives several extensions and variations on the basic problem.

2,692 citations

Proceedings ArticleDOI
09 Dec 2003
TL;DR: The problem of finding a linear iteration that yields distributed averaging consensus over a network that asymptotically computes the average of some initial values given at the nodes is considered.
Abstract: We consider the problem of finding a linear iteration that yields distributed averaging consensus over a network, i.e., that asymptotically computes the average of some initial values given at the nodes. When the iteration is assumed symmetric, the problem of finding the fastest converging linear iteration can be cast as a semidefinite program, and therefore efficiently and globally solved. These optimal linear iterations are often substantially faster than several simple heuristics that are based on the Laplacian matrix of the associated graph.

927 citations


"Pulse-Modulated Intermittent Contro..." refers background in this paper

  • ...Assuming the conditions of Theorem 1 hold and the graph G is a undirected graph, we define the asymptotic convergence factor [41] as...

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Journal ArticleDOI
TL;DR: A distributed adaptive consensus protocol is designed to achieve leader-follower consensus in the presence of a leader with a zero input for any communication graph containing a directed spanning tree with the leader as the root node.
Abstract: This technical note addresses the distributed consensus protocol design problem for multi-agent systems with general linear dynamics and directed communication graphs. Existing works usually design consensus protocols using the smallest real part of the nonzero eigenvalues of the Laplacian matrix associated with the communication graph, which however is global information. In this technical note, based on only the agent dynamics and the relative states of neighboring agents, a distributed adaptive consensus protocol is designed to achieve leader-follower consensus in the presence of a leader with a zero input for any communication graph containing a directed spanning tree with the leader as the root node. The proposed adaptive protocol is independent of any global information of the communication graph and thereby is fully distributed. Extensions to the case with multiple leaders are further studied.

799 citations


"Pulse-Modulated Intermittent Contro..." refers background in this paper

  • ...2524063 impulsive control [14]–[19], adaptive control [20]–[23], sliding mode control [24], [25], switching topology [26]–[28], pinning control or leader–follower [29], [30], neural network-based approaches [31], [32], and containment control [33], [34]....

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Journal ArticleDOI
TL;DR: It is proved that consensus tracking in the closed-loop multi-agent systems with a fixed topology having a directed spanning tree can be achieved if the feedback gain matrix and the coupling strength are suitably selected.
Abstract: Distributed consensus tracking is addressed in this paper for multi-agent systems with Lipschitz-type node dynamics. The main contribution of this work is solving the consensus tracking problem without the assumption that the topology among followers is strongly connected and fixed. By using tools from M-matrix theory, a class of consensus tracking protocols based only on the relative states among neighboring agents is designed. By appropriately constructing Lyapunov function, it is proved that consensus tracking in the closed-loop multi-agent systems with a fixed topology having a directed spanning tree can be achieved if the feedback gain matrix and the coupling strength are suitably selected. Furthermore, with the assumption that each possible topology contains a directed spanning tree, it is theoretically shown that consensus tracking under switching directed topologies can be achieved if the control parameters are suitably selected and the dwell time is larger than a positive threshold. The results are then extended to the case where the communication topology contains a directed spanning tree only frequently as the system evolves with time. Finally, some numerical simulations are given to verify the theoretical analysis.

705 citations


"Pulse-Modulated Intermittent Contro..." refers background in this paper

  • ...2524063 impulsive control [14]–[19], adaptive control [20]–[23], sliding mode control [24], [25], switching topology [26]–[28], pinning control or leader–follower [29], [30], neural network-based approaches [31], [32], and containment control [33], [34]....

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Journal ArticleDOI
TL;DR: Two delay-dependent criteria are derived to ensure the stochastic stability of the error systems, and thus, the master systems stochastically synchronize with the slave systems.
Abstract: In this paper, the problem of sampled-data synchronization for Markovian jump neural networks with time-varying delay and variable samplings is considered. In the framework of the input delay approach and the linear matrix inequality technique, two delay-dependent criteria are derived to ensure the stochastic stability of the error systems, and thus, the master systems stochastically synchronize with the slave systems. The desired mode-independent controller is designed, which depends upon the maximum sampling interval. The effectiveness and potential of the obtained results is verified by two simulation examples.

567 citations


"Pulse-Modulated Intermittent Contro..." refers background in this paper

  • ...Over the past decades, various control schemes were reported to achieve consensus with different agent dynamics and features, including sampled control [7]–[13],...

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