事件触发控制多智能体网络点对点一致性

针对具有领导层与跟随者层的多智能体网络点对点的一致性问题进行了研究。为了有效降低多智能体一致性控制协议的更新频率,同时为避免芝诺现象的产生,采用了周期采样与事件触发控制相结合的方案,实现了多智能体网络的点对点一致性。进一步,根据李雅普诺夫稳定性理论,通过建立线性矩阵不等式,给出了领导层与跟随者层网络达到点对点一致性的充分条件。最后,数值仿真进一步验证了理论结果的有效性。     

二阶有向多智能体网络的可控包含控制

研究随机给定拓扑结构的二阶有向多智能体网络的可控包含控制问题.针对当前包含控制研究成果大多没有考虑多智能体网络领导者和跟随者的可控配置问题,结合复杂网络可控性理论和二分图最大匹配算法给出满足网络可控的领导者和跟随者集合,并为跟随者智能体设计相应的控制协议,驱使跟随者能够渐近收敛到由多个领导者构成的静态凸包中,从而实现网络的可控包含控制.仿真结果验证了理论分析的正确性.     

通信受限的多智能体系统二分实用一致性

针对存在量化数据、通信时滞等通信约束以及带有竞争关系的多智能体系统, 研究其二分实用一致性问题, 提出了一种基于量化器的分布式控制协议. 该协议基于结构平衡拓扑假设, 通过规范变换将具有竞争关系系统转变为具有非负连接权重系统, 使二分实用一致性问题转变为一般实用一致性问题. 利用微分包含理论、菲利波夫解的框架、代数图论以及Lyapunov稳定性理论, 证明了在本文所提控制策略下, 具有竞争关系的多智能体系统能实现二分实用一致, 即智能体状态收敛至模相同但符号不同的可控区间, 并给出了误差收敛上界值. 仿真试验进一步验证了理论结果的有效性.     

带强连通分支的多智能体系统可控包含控制

研究有强连通子图拓扑结构的有向多智能体系统领导者选择及可控包含控制问题.根据网络拓扑结构,智能体被分为两类:单元智能体和一般智能体.首先设计强连通子图中个体组成的单元智能体的一致性协议实现各个单元的一致;后由单元智能体和一般智能体构成新的拓扑结构,结合复杂网络可控性理论与二分图最大匹配算法确定满足网络可控的最少领导者集合,并为所有智能个体设计相应的控制协议,驱使跟随者渐近收敛到多个领导者组成的动态凸包中,从而实现网络的可控包含控制.仿真结果验证了理论分析的正确性.     

网络攻击下多智能体系统动态事件触发一致性

研究网络攻击下一般线性多智能体系统的动态事件触发一致性问题.考虑多智能体系统在受到网络攻击后,被攻击节点的状态会改变,导致与其相应的连接无法工作,设计修复策略恢复被攻击节点及其相应的连接,给出网络攻击下分布式事件触发控制协议.在静态事件触发机制基础上,通过引入动态阈值参数,提出动态事件触发机制.进一步,利用图论、线性矩阵不等式和李雅普诺夫函数方法,给出网络攻击下实现多智能体系统一致性的充分条件,并证明在所提出的动态事件触发条件下,能够有效避免芝诺行为.最后,通过仿真例子来验证理论结果的有效性.     

多智能体系统基于自适应控制下的二分-分量一致性

二分-分量一致性是指网络系统中部分具有相似特性智能体的某些分量随时间推移趋于相同的值,而剩余智能体的某些分量则随时间趋于相反的值,是一种弱于恒同一致和二分一致的动力学行为.为此,对符号网络上非线性多智能体系统的二分-分量一致性问题展开研究.首先,针对多智能体系统中各智能体之间存在的合作关系或竞争关系,设计有效的自适应牵制控制器;随后,基于Lyapunov稳定性理论和矩阵理论,导出该非线性系统二分-分量一致性得以实现的充分条件;最后,通过数值模拟验证理论结果.     

含约束和通信时滞的多智能体系统包含控制

随着人工智能的发展,包含控制成为近年来研究的热点问题.为了解决有向切换通信拓扑下含非凸输入约束和通信时滞的采样多智能体系统包含控制问题,设计了一种基于投影的分布式非线性包含控制算法.该算法只需要利用智能体自身和相邻智能体的交互信息就能实现输入受限跟随者的包含.首先将跟随者与领导者构成的凸区域的最大距离选定为李雅普诺夫函...     

异质多智能体系统滞后一致性跟踪控制

针对一阶、二阶混合异质多智能体系统的滞后一致性问题,提出了一种基于牵制控制的分布式滞后一致性控制协议。首先,将滞后一致性分析转化为稳定性证明;然后,利用图论和Lyapunov稳定性理论分析闭环系统稳定性;最后,分别在固定拓扑和切换拓扑结构下给出了基于线性矩阵不等式（LMI）形式的滞后一致性可解的充分条件,从而实现异质多智能体的领导-跟随者滞后一致性。数值仿真结果表明,所提出的滞后一致性控制方法可以使异质多智能体系统实现领导-跟随者滞后一致性。     

事件触发下多智能体系统固定时间二分一致性

针对具有符号有向图的一阶多智能体系统,研究了其固定时间二分一致性问题。为降低控制过程中多智能体系统的能量损耗,提出了一种基于事件触发机制的分布式控制协议。以图论和李雅普诺夫理论为主要研究工具,给出了多智能体系统在所设计控制协议作用下实现固定时间二分一致性的充分条件和与系统初始状态无关的收敛时间上界,并证明了使用该协议可以有效避免对智能体的连续控制和Zeno行为的发生。数值算例验证了所得理论结果的有效性。     

非仿射非线性多智能体系统迭代学习一致跟踪

为了解决非仿射非线性多智能体系统在给定时间区间上一致性完全跟踪问题,基于迭代学习控制方法设计一种分布式一致性跟踪控制算法.首先,由引入的虚拟领导者与所有跟随者组成多智能体系统的通信拓扑,其中虚拟领导者的作用是提供期望轨迹.然后,在只有部分跟随者能够获得领导者信息的条件下,利用每个跟随者及其邻居的跟踪误差构造每个跟随者的迭代学习一致性跟踪控制器.同时采用中值定理将非仿射非线性多智能体系统转化仿射形式,并基于压缩映射方法证明所提算法的收敛性,给出算法的收敛条件.理论分析表明,在智能体的非线性函数未知情况下,利用所提算法可以使非仿射非线性多智能体系统在给定时间区间上随迭代次数增加逐次实现一致性完全跟踪.最后,通过仿真算例进一步验证所提算法的有效性.     

Bipartite tracking of homogeneous and heterogeneous linear multi-agent systems

In this paper, we consider bipartite tracking of linear multi-agent systems with a leader. Both homogeneous and heterogeneous systems are investigated. The communication between agents is modelled by a directed signed graph, where the negative (positive) edges represent the antagonistic (cooperative) interactions among agents. Linear Quadratic Regulator (LQR)-based approach is used to derive the distributed protocol for the follower agent to achieve bipartite tracking of the leader. It is shown that solving the bipartite tracking problem over the structurally balanced signed graph is equivalent to solving the cooperative tracking problem over a corresponding graph with nonnegative edge weights. This bridges the gap between the newly raised bipartite tracking problem and the well-studied cooperative tracking problem. Three novel control protocols are proposed for both cooperative and bipartite output tracking of heterogeneous linear multi-agent systems. Numerical examples are given to show the effectiveness of our control protocols.     

异质多智能体系统二分一致性的充要条件

针对由一阶智能体和二阶智能体组成的异质多智能体系统的二分一致性问题,对连续和离散系统情形分别设计了二分一致性协议。基于结构平衡的拓扑,通过规范变换实现了从具有敌对关系的系统到具有非负连接权重系统的转化,将二分一致性问题转变为一般一致性问题。进一步,运用代数图论和矩阵理论分析闭环控制系统的动态特性,得到了异质多智能体系统渐近实现二分一致性的充要条件。最后通过数值模拟验证了所得结果的有效性。     

对抗网络下时滞非线性多智能体系统固定时间二分一致性

本文针对一类存在输入时延的非线性多智能体系统,研究了其在结构平衡的无向符号图下的固定时间二分一致性问题.首先,本文针对智能体间相互合作与相互竞争的关系,设计了一类存在输入时延的多智能体系统固定时间分布式一致性控制协议,使得系统状态在固定时间内收敛到数值相同但符号相反的两个值,且收敛时间上界与初始状态无关.随后,利用Lyapunov稳定性理论和代数图论给出了在存在输入时延的情况下多智能体系统实现固定时间二分一致性的充分条件和收敛时间的上界值,证明了控制算法的稳定性.最后,仿真实例验证了所提固定时间二分一致性算法和理论结果的有效性.     

带有观测器的广义多智能体系统二分一致性

本文研究了带有观测器的广义多智能体系统的二分一致性问题.根据符号图的特性,提出了一种基于广义观测器的分布式二分一致性控制协议.以广义系统稳定性理论和代数图论为主要研究工具,分析并得到了广义多智能体系统实现二分一致性的充分条件.利用广义观测器的相对和绝对信息设计了两种新的二分一致性控制协议.数值仿真验证了理论结果的准确性和有效性.     

具有随机丢包的网络化多自主体系统的一致性

研究具有随机丢包的网络化多自主体系统的均方一致性问题,其中不同自主体间的通信通道具有相同的丢包情况并且均服从马尔可夫(Markov)分布。首先,利用系统变换和迭代方法,得到了系统达到均方一致的一个初等充要条件。然后,利用矩阵理论和图论知识,如果拓扑图含有有向生成树,则可以将系统的均方一致性转化成一个线性Markov跳变系统的均方稳定性,并且可以建立线性矩阵不等式形式的均方可镇定准则。最后,通过相应的仿真实例说明了所得结论的可行性。     

Event-Triggered Asymmetric Bipartite Consensus Tracking for Nonlinear Multi-Agent Systems Based on Model-Free Adaptive Control

In this paper, an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism. For the agents described by a structurally balanced signed digraph, the asymmetric bipartite consensus objective is firstly defined, assigning the agents’ output to different signs and module values. Considering with the completely unknown dynamics of the agents, a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents’ triggered outputs and an equivalent compact form data model. By utilizing the Lyapunov analysis method, the threshold of the triggering condition is obtained. Subsequently, the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle. Finally, the simulation example further demonstrates the effectiveness of the protocol.      

Guaranteed performance consensus in second-order multi-agent systems with hybrid impulsive control

This paper studies the problem of guaranteed performance consensus in second-order multi-agent systems. Taking advantage of impulsive control, a hybrid cooperative control is presented, and an index function is introduced to assess the performance of agents. It is shown that by synthesizing the coupling weights and the average impulsive intermittence, multi-agent systems can achieve guaranteed performance consensus. A numerical example is given to illustrate the theoretical results.     

Bipartite Byzantine-resilient event-triggered consensus control of heterogeneous multi-agent systems

This article studies the bipartite resilient event-triggered consensus control for a class of the heterogeneous multi-agent systems. Due to the external cyberattacks, some agents may become the Byzantine agents and will affect the behavior of the other agents. To improve the security of the multi-agent systems against the Byzantine agents, a novel bipartite event-triggered heterogeneous mean-subsequence-reduced algorithm is designed. First, to handle the heterogeneous multi-agent systems, a state transformation is carefully designed, to facilitate the design and analysis of the bipartite resilient consensus algorithm. Based upon the designed state transformation, the bipartite resilient control inputs are constructed, where the structural balance analysis shows that the resulting effective signed graph and the equivalent signed graph are both structurally balanced, if the signed graph of the multi-agent systems is structurally balanced. In addition, a dynamic event-triggered mechanism is proposed, where a set of dynamic factors are introduced into the event-triggered functions to prevent the usage of the global topology information. By virtue of the designed algorithm, it is guaranteed that the heterogeneous multi-agent systems can achieve the bipartite consensus in the presence of the Byzantine agents, and the communication burden among the agents can be reduced. The numerical simulations are conducted to verify the effectiveness of the proposed algorithm.     

Dynamic event-triggered bipartite consensus for uncertain high-order nonlinear multi-agent systems

In this paper, the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems. A signed digraph is presented to describe the collaborative and competitive interactions among agents. For each agent with lower triangular structure, a time-varying gain compensator is first designed by relative output information of neighboring agents. Subsequently, a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero. It is worth noting that an internal dynamic variable is introduced in triggering function, which plays an essential role in excluding the Zeno behavior and reducing energy consumption. Furthermore, the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior. Finally, simulation examples are provided to illustrate the effectiveness of the presented results.