Finite time formation control for multi-agent systems with event-triggered control scheme

2019 ◽  
Author(s):  
Ding Zhou ◽  
An Zhang ◽  
Wenhao Bi
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Control Scheme ◽  
Multi Agent ◽  
Event Triggered

Finite-time consensus of heterogeneous unknown nonlinear multi-agent systems with external disturbances via event-triggered control

2020 ◽  
pp. 107754632094834
Author(s):  
Mehdi Zamanian ◽  
Farzaneh Abdollahi ◽  
Seyyed Kamaleddin Yadavar Nikravesh
Keyword(s):  
Nonlinear Dynamics ◽  
Finite Time ◽  
Small Region ◽  
Multi Agent Systems ◽  
External Disturbances ◽  
Agent Systems ◽  
Control Scheme ◽  
Multi Agent ◽  
Unknown Nonlinear Dynamics ◽  
Event Triggered

This article investigates the practical finite-time consensus for a class of heterogeneous multi-agent systems composed of first-order and second-order agents with heterogeneous unknown nonlinear dynamics and external disturbances in an undirected communication topology. To reduce the system updates, we propose an event-triggered approach. By defining auxiliary states, an adaptive distributed event-triggered control is designed to achieve practical finite-time consensus. Unknown nonlinear dynamics for each agent are estimated using radial basis function neural network. The stability of the overall closed-loop system is studied through the Lyapunov criterion. It is proven that by applying the proposed control scheme, the local neighbor position error and the velocity error between any two agents converge to a small region in finite time. Furthermore, it is shown that the Zeno behavior is ruled out. Finally, applicability and effectiveness of the proposed control scheme is verified and validated by two examples.

Event-triggered finite-time consensus for stochastic multi-agent systems

2020 ◽  
pp. 014233122093344
Author(s):  
Zichao Yang ◽  
Shiqi Zheng ◽  
Bingyun Liang ◽  
Yuanlong Xie
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Output Feedback Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Control Scheme ◽  
Reduced Order Observer ◽  
Feedback Control Method ◽  
Multi Agent ◽  
Event Triggered

This paper studies a consensus problem for a kind of stochastic multi-agent systems (SMAS). First, a reduced-order observer is designed to estimate unknown states in SMASs. Second, an event-triggered adaptive output feedback control method is presented. It can reduce the controller updates and communication burden. Moreover, the radial basis function neural networks are applied to approximate the unknown functions in systems. Finally, it is demonstrated that the proposed control scheme can achieve finite-time practical consensus for SMASs. Simulation results are provided to illustrate the effectiveness of the theoretical analysis.

Finite time dynamical formation control of multi-agent systems

2015 ◽  
Author(s):  
Ma Longbiao ◽  
He Fenghua ◽  
Sun Chuanpeng ◽  
Wang Long ◽  
Zhang Silun ◽  
...  
Keyword(s):  
Finite Time ◽  
Formation Control ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent
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