scholarly journals Event-Triggered-Based External Consensus Protocol of RBF-ARX-Model-Based Networked Multiagent Systems with Nonlinear Dynamics and Communication Delays

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Qi Lei ◽  
Ying Luo
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Delay Compensation ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Arx Model ◽  
Control Protocol ◽  
The Times ◽  
Networked Multiagent Systems ◽  
Event Triggered

An event-triggered-based external consensus control protocol with delay compensation for networked multiagent systems (NMASs) with nonlinear dynamics and network-induced delays is discussed in this paper. An RBF-ARX modelling method is adopted to approximate a nonlinear system. By utilizing the RBF-ARX model, the locally linearized time series model can be obtained to describe the behaviour of agents with nonlinear characteristics. An event-triggered control protocol with communication delay compensation is proposed to reduce the effects of network-induced delays and the times of the agent’s control update and communication between others by applying the idea of a prediction strategy. The event-triggered mechanism for each agent only depends on the deviation between its own output and the delay-compensated output of neighboring agents. Then, a distributed event-triggered-based and delay-compensated external consensus control protocol is given. Under this proposed control protocol, both the consensus and stability of the system can be proved. Finally, a numerical simulation is performed to verify the availability of our results.

scholarly journals Event-Triggered Consensus Control for Leader-Following Multiagent Systems Using Output Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Yang Liu ◽  
Xiaohui Hou
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
Output Signal ◽  
Internal State ◽  
Disturbance Attenuation ◽  
External Disturbances ◽  
Consensus Control ◽  
State Information ◽  
Leader Following ◽  
Event Triggered

The event-triggered consensus control for leader-following multiagent systems subjected to external disturbances is investigated, by using the output feedback. In particular, a novel distributed event-triggered protocol is proposed by adopting dynamic observers to estimate the internal state information based on the measurable output signal. It is shown that under the developed observer-based event-triggered protocol, multiple agents will reach consensus with the desired disturbance attenuation ability and meanwhile exhibit no Zeno behaviors. Finally, a simulation is presented to verify the obtained results.

scholarly journals Eigenvalue Based Approach for Global Consensus in Multiagent Systems with Nonlinear Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-6
Author(s):  
Wei Qian ◽  
Lei Wang
Keyword(s):  
Nonlinear Dynamics ◽  
Multiagent Systems ◽  
Multiagent System ◽  
Symmetric Matrix ◽  
Algebraic Connectivity ◽  
Communication Graph ◽  
Consensus Protocol ◽  
Global Consensus ◽  
The Common ◽  
Analytical Result

This paper addresses the global consensus of nonlinear multiagent systems with asymmetrically coupled identical agents. By employing a Lyapunov function and graph theory, a sufficient condition is presented for the global exponential consensus of the multiagent system. The analytical result shows that, for a weakly connected communication graph, the algebraic connectivity of a redefined symmetric matrix associated with the directed graph is used to evaluate the global consensus of the multiagent system with nonlinear dynamics under the common linear consensus protocol. The presented condition is quite simple and easily verified, which can be effectively used to design consensus protocols of various weighted and directed communications. A numerical simulation is also given to show the effectiveness of the analytical result.

scholarly journals Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Haiying Ma ◽  
Xiao Jia ◽  
Ning Cai ◽  
Jianxiang Xi
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Convergence Speed ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Control Gain ◽  
Multi Agent ◽  
The Stability ◽  
Theoretical Results

In this paper, adaptive guaranteed-performance consensus control problems for multiagent systems with an adjustable convergence speed are investigated. A novel adaptive guaranteed-performance consensus protocol is proposed, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained and the guaranteed-performance cost is determined. Moreover, the lower bound of the convergence coefficient for multiagent systems is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

scholarly journals Bipartite Consensus of Heterogeneous Multiagent Systems Based on Distributed Event-Triggered Control

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14 ◽  
Author(s):  
Xiaoyu Wang ◽  
Kaien Liu ◽  
Zhijian Ji ◽  
Shitao Han
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Input Delay ◽  
Consensus Problem ◽  
Consensus Protocol ◽  
Control Scheme ◽  
Event Triggering ◽  
Bipartite Consensus ◽  
Theoretical Results ◽  
Event Triggered

In this paper, the bipartite consensus problem of heterogeneous multiagent systems composed of first-order and second-order agents is considered by utilizing the event-triggered control scheme. Under structurally balanced directed topology, event-triggered bipartite consensus protocol is put forward, and event-triggering functions consisting of measurement error and threshold are designed. To exclude Zeno behavior, an exponential function is introduced in the threshold. The bipartite consensus problem is transformed into the corresponding stability problem by means of gauge transformation and model transformation. By virtue of Lyapunov method, sufficient conditions for systems without input delay are obtained to guarantee bipartite consensus. Furthermore, for the case with input delay, sufficient conditions which include an admissible upper bound of the delay are obtained to guarantee bipartite consensus. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results.

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