A Finite-Time Consensus Framework Over Time-Varying Graph Topologies With Temporal Constraints

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Zhen Kan ◽  
Tansel Yucelen ◽  
Emily Doucette ◽  
Eduardo Pasiliao
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Information Exchange ◽  
Multiagent System ◽  
Initial Conditions ◽  
Time Frame ◽  
Time Instant ◽  
Global Network ◽  
Time Varying ◽  
Temporal Constraints

Finite-time consensus has attracted significant research interest due to its wide applications in multiagent systems. Various results have been developed to enable multiagent systems to complete desired tasks in finite-time. However, most existing results in the literature can only ensure finite-time consensus without considering temporal constraints, where the time used to achieve consensus cannot be preset arbitrarily and is generally determined by the system initial conditions, prohibiting its application in time-sensitive tasks. Motivated to achieve consensus within a desired time frame, user-specified finite-time consensus is developed in the present work for a multiagent system to ensure consensus at a prespecified time instant. The interaction among agents (e.g., communication and information exchange) is modeled as a time-varying graph, where each edge is associated with a time-varying weight representing the time-varying interaction between neighboring agents. Consensus over such time-varying graph is then proven based on a time transformation and is guaranteed to be completed within a prespecified time frame. To demonstrate the developed framework, finite-time rendezvous of a multiagent system is considered as an example application, where agents with limited communication capabilities are desired to meet at a common location at a preset time instant with constraints on preserving global network connectivity. A numerical simulation is provided to demonstrate the efficiency of the developed result.

scholarly journals Consensus Analysis of High-Order Multiagent Systems with General Topology and Asymmetric Time-Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Fangcui Jiang
Keyword(s):  
Multiagent Systems ◽  
Network Topology ◽  
Time Delays ◽  
Multiagent System ◽  
High Order ◽  
Directed Network ◽  
Time Varying ◽  
Consensus Analysis ◽  
Robust Consensus ◽  
Selection Of

This paper focuses on the consensus problem for high-order multiagent systems (MAS) with directed network and asymmetric time-varying time-delays. It is proved that the high-order multiagent system can reach consensus when the network topology contains a spanning tree and time-delay is bounded. The main contribution of this paper is that a Lyapunov-like design framework for the explicit selection of protocol parameters is provided. The Lyapunov-like design guarantees the robust consensus of the high-order multiagent system with respect to asymmetric time-delays and is independent of the exact knowledge of the topology when the communication linkages among agents are undirected and connected.

State Emulator-Based Adaptive Architectures for Resilient Networked Multiagent Systems Over Directed and Time-Varying Graphs

2015 ◽  
Author(s):  
Gerardo De La Torre ◽  
Tansel Yucelen
Keyword(s):  
Multiagent Systems ◽  
Multiagent System ◽  
Time Varying ◽  
System Behavior ◽  
Adverse Conditions ◽  
Distributed Adaptive Control ◽  
Adaptive Architectures ◽  
Exogenous Disturbances ◽  
The Stability ◽  
Networked Multiagent Systems

In this paper, we present adaptive architectures for networked multiagent systems operating over directed networks to achieve resilient coordination in the presence of disturbances. Specifically, we consider a class of unforeseen adverse conditions consisting of persistent exogenous disturbances and present a state emulator-based distributed adaptive control architecture to retrieve the nominal networked multiagent system behavior. The stability properties of the proposed architecture are analyzed using results from Lyapunov stability and matrix mathematics. Illustrative numerical examples are provided to demonstrate the theoretical findings.

scholarly journals Finite-Time Consensus of Networked Multiagent Systems with Time-Varying Linear Control Protocols

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Jiayan Wen ◽  
Chen Wang ◽  
Wenguang Luo ◽  
Guangming Xie
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Linear Feedback ◽  
Time Varying ◽  
Communication Graph ◽  
Linear Feedback Control ◽  
First Order ◽  
Preset Time ◽  
Control Protocols ◽  
Networked Multiagent Systems

Finite-time consensus problems for networked multiagent systems with first-order/second-order dynamics are investigated in this paper. The goal of this paper is to design local information based control protocols such that the systems achieve consensus at any preset time. In order to realize this objective, a class of linear feedback control protocols with time-varying gains is introduced. We prove that the multiagent systems under such kinds of time-varying control protocols can achieve consensus at the preset time if the undirected communication graph is connected. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretic results.

scholarly journals LQR Based Optimal Topology of Hybrid-Weighted Multiagent Systems

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Shuai Liu ◽  
Zhijian Ji ◽  
Haisheng Yu ◽  
Ting Hou
Keyword(s):  
Multiagent Systems ◽  
Composite Structure ◽  
Information Exchange ◽  
Multiagent System ◽  
Linear Quadratic Regulator ◽  
Optimal Topology ◽  
Information Communication ◽  
Linear Quadratic ◽  
Control Cost ◽  
First Order

In this paper, the optimal topology structure is studied for hybrid-weighted leader-follower multiagent systems (MASs). The results are developed by taking advantage of linear quadratic regulator (LQR) theory. We show that the multiagent star composite structure is the optimal topology which can enable the MAS to achieve the bipartite consensus. In particular, we prove that the optimal topology corresponding to the multiagent system with the first-order static leader and the second-order dynamic leader is, respectively, a hybrid-weighted star composite structure and an unevenly hybrid-weighted star composite structure. The results of the paper indicate that, in addition to the necessary information communication between leader and followers, the information exchange among followers increases the control cost of the system.

Further Results on Finite-Time Distributed Control of Multiagent Systems With Time Transformation

2018 ◽  
Author(s):  
Ehsan Arabi ◽  
Tansel Yucelen ◽  
John R. Singler
Keyword(s):  
Distributed Control ◽  
Multiagent Systems ◽  
Local Control ◽  
Finite Time ◽  
Control Algorithm ◽  
Initial Conditions ◽  
A Priori ◽  
Time Transformation ◽  
Time Interval ◽  
Distributed Control Algorithm

In previous work, a (smooth) finite-time distributed control algorithm with time transformation was introduced for first-order multiagent systems, which guarantees convergence of the single state of agents to a time-varying leader at a-priori given, user-defined time T from any arbitrary initial conditions with bounded local control signals. In this paper, we present an extension of this previous work to second-order multiagent systems. Specifically, utilizing a user-defined finite-time interval of interest t ∈ [0, T), we time transform this class of multiagent systems subject to the considered (smooth) distributed control algorithm to an infinite-time interval s ∈ [0, ∞) with s being the stretched time. Based on a property of this time transformation, this results in finite-time convergence as the regular time t approaches to T from any arbitrary initial conditions with bounded local control and internal signals. Finally, two numerical examples illustrate the efficacy of the proposed algorithm.

scholarly journals H∞Consensus for Multiagent Systems with Heterogeneous Time-Varying Delays

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Beibei Wang ◽  
Yuangong Sun
Keyword(s):  
Multiagent Systems ◽  
Multiagent System ◽  
Sufficient Conditions ◽  
Order System ◽  
Linear Matrix ◽  
Time Varying ◽  
Matrix Inequality ◽  
Reduced Order ◽  
Heterogeneous Delays ◽  
Theoretical Results

We apply the linear matrix inequality method to consensus andH∞consensus problems of the single integrator multiagent system with heterogeneous delays in directed networks. To overcome the difficulty caused by heterogeneous time-varying delays, we rewrite the multiagent system into a partially reduced-order system and an integral system. As a result, a particular Lyapunov function is constructed to derive sufficient conditions for consensus of multiagent systems with fixed (switched) topologies. We also apply this method to theH∞consensus of multiagent systems with disturbances and heterogeneous delays. Numerical examples are given to illustrate the theoretical results.

Finite-time control of uncertain time-varying systems in p-normal form

2020 ◽  
Author(s):  
Kanya Rattanamongkhonkun ◽  
Radom Pongvuthithum ◽  
Chulin Likasiri
Keyword(s):  
Normal Form ◽  
Finite Time ◽  
Control Law ◽  
Time Varying ◽  
Time Control ◽  
Special Cases ◽  
Time Varying Systems ◽  
A Chain ◽  
Uncertain Time ◽  
Power Integrator

Abstract This paper addresses a finite-time regulation problem for time-varying nonlinear systems in p-normal form. This class of time-varying systems includes a well-known lower-triangular system and a chain of power integrator systems as special cases. No growth condition on time-varying uncertainties is imposed. The control law can guarantee that all closed-loop trajectories are bounded and well defined. Furthermore, all states converge to zero in finite time.

Sign in / Sign up

Export Citation Format

Share Document