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Jing Bai,Guoguang Wen,Yu Song,Ahmed Rahmani,Yongguang Yu 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
The distributed formation control of fractional-order multi-agent systems is mainly studied under directedcommunication graphs in this paper. Firstly, a control law with relative damping and communication delay areproposed. Then, some sufficient conditions for achieving formation control are derived using matrix theory, graphtheory and the frequency domain analysis method. Finally, based on the numerical method of predictor-corrector,several simulations are presented to illustrate the effectiveness of the obtained results.
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Group-consensus with Reference States for Heterogeneous Multiagent Systems via Pinning Control
Jun Huang,Guoguang Wen,Zhaoxia Peng,Xing Chun Wang,Youwei Dong 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
This paper considers group-consensus with reference states for heterogeneous multiagent systems, whichis composed of first-order agents and second-order agents. The pinning scheme is induced for solving groupconsensusunder fixed and switching topologies, respectively. Firstly, a group-consensus control protocol viapining scheme under fixed topology is proposed. Then the corresponding sufficient conditions to guarantee groupconsensusare deduced by employing graph theory and Lyapunov stability approach. What’s more, based on pinningscheme, the agents in every group can reach their own group’s reference states. Secondly, the group-consensus forheterogeneous multiagent systems with switching topologies is studied, where an equivalent system of the originalmultiagent system is obtained by model transformation. Then, the corresponding sufficient conditions to guaranteegroup-consensus are obtained based on the corresponding graph theory and Lyapunov stability approach. The sameas the case of fixed topology, the agents in every group can also reach their own group’s reference states by employingpinning control. Finally, some simulation examples are presented to illustrate the capabilities of the establishedtheories.
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Aperiodically Intermittent Adaptive Event-triggered Control for Linear Multi-agent Systems
Yunlong Zhang,Guoguang Wen,Ahmed Rahmani,Xiaoqin Zhai 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.1
This paper investigates the aperiodically intermittent adaptive event-triggered control strategy for general linear multi-agent systems. The aperiodically intermittent adaptive event-triggered control inherits the respective advantages of aperiodically intermittent control strategy, event-triggered control strategy and adaptive control strategy, which improves communication efficiency, reduces control update frequency and is closer to the practical situations. Firstly, to reach leader-following consensus and save more control resources, a distributed aperiodically intermittent event-triggered scheme is devised, in which the transmission channels among agents only open if the local event-trigger condition is satisfied in predefined time intervals. Then, in order to get rid of continuous inter-agent communication for monitoring the triggering condition, a more general triggering mechanism is presented, in which discrete-time combinational measurement is adopted instead of using continuous-time tracking error directly. Next, to overcome the unexpected large feedback gains in real applications and appropriately tune the feedback gains, the aperiodically intermittent adaptive event-triggered controller is further devised. With aid of the matrix theory, stability theory of switching systems and Lyapunov function, some sufficient criteria are deduced. Moreover, the analyses of excluding the Zeno behavior are included, and explicit positive lower bounds between any two consecutive time intervals are rigorously guaranteed. Finally, the effectiveness for the designed control strategies is validated by simulations.
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