This paper considers an affine maneuver tracking control problem for leader-follower type second-order multi-agent systems in the presence of time-varying delays, where the interaction topology is directed. Using the ...This paper considers an affine maneuver tracking control problem for leader-follower type second-order multi-agent systems in the presence of time-varying delays, where the interaction topology is directed. Using the property of the affine transformation,this paper gives the sufficient and necessary conditions of achieving the affine localizability and extends it to the second-order condition. Under the(n + 1)-reachable condition of the given n-dimensional nominal formation with n + 1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. When the neighboring positions and velocities are available, a formation maneuver tracking control protocol with time-varying delays is constructed with the form of linear systems, where the tracking errors of the followers can be specified. Based on Lyapunov-Krasovskii stability theory, sufficient conditions to realize affine maneuvers are proposed and proved, and the unknown control gain matrix can be solved only by four linear matrix inequalities independent of the number of agents. Finally, corresponding simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references accurately and continuously.展开更多
In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to for...In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.展开更多
This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objectiv...This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objective is that the agents track the leader asymptotically with different time delays,i.e.,the agents in different groups reach delay consensus,while the agents in the same group reach identical consensus.To guarantee the cluster-delay consensus for the second-order multi-agent systems,a new control protocol is proposed.Then some corresponding conditions for cluster-delay consensus are derived by using Lyapunov directed method and matrix theory.Finally,the effectiveness of the theoretical analysis results are verified by some numerical simulations.展开更多
This paper addresses the distributed adaptive optimization problem over second-order multi-agent networks(MANs)with nonuniform gradient gains.A general convex function consisting of a sum of local differentiable conve...This paper addresses the distributed adaptive optimization problem over second-order multi-agent networks(MANs)with nonuniform gradient gains.A general convex function consisting of a sum of local differentiable convex functions is chosen as the team objective function.First,based on the local information of each agent’s neighborhood,a novel distributed adaptive optimization algorithm with nonuniform gradient gains is designed,where these gains only have relations with agents’own states.And then,the original closed-loop system is changed into an equivalent one by taking a coordination transformation.Moreover,it is proved that the states including positions and velocities of all agents are bounded by constructing a Lyapunov function provided that the initial values are given.By the theory of Lyapunov stability,it is shown that all agents can finally reach an agreement and their position states converge to the optimal solution of the team objective function asymptotically.Finally,the effectiveness of the obtained theoretical results is demonstrated by several simulation examples.展开更多
This paper deals with the consensus problem of multi-agent systems with second-order dynamics. The objective is to design algorithms such that all agents will have same positions and velocities. First, a reference mod...This paper deals with the consensus problem of multi-agent systems with second-order dynamics. The objective is to design algorithms such that all agents will have same positions and velocities. First, a reference model based consensus algorithm is proposed. It is proved that the consensus can be achieved if the communication graph has a spanning tree. Different from most of the consensus algorithms proposed in the literature, the parameters of the control laws are different among agents. Therefore, each agent can design its control law independently. Secondly, it gives a consensus algorithm for the case that the velocities of the agents are not available. Thirdly, the effectiveness of the input delay and the communication delay is considered. It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law. Finally, some numerical examples are given to illustrate the proposed results.展开更多
This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains tw...This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts： the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.展开更多
This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external disturbances.In contrast with most of second-order systems in the literature,the intrinsic dynamics her...This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external disturbances.In contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more realistic.Moreover,the interaction topology is undirected and switching.Provided that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero asymptotically.The proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several states.An example is given to illustrate the validity of the theoretical results.展开更多
分布式资源(distributed energy resources,DERs)的随机元素会引起多虚拟电厂(multi-virtual power plant,MVPP)系统内虚拟电厂(virtual power plant,VPP)策略频繁变化。对于某主体,如何感知其他主体策略突然变化时对自身收益的影响趋势...分布式资源(distributed energy resources,DERs)的随机元素会引起多虚拟电厂(multi-virtual power plant,MVPP)系统内虚拟电厂(virtual power plant,VPP)策略频繁变化。对于某主体,如何感知其他主体策略突然变化时对自身收益的影响趋势,并快速调整自身策略,是亟需解决的难点。该文提出基于二阶随机动力学的多虚拟电厂自趋优能量管理策略,旨在提升VPP应对其他主体策略变化时的自治能力。首先,针对DERs异质运行特性,聚焦可调空间构建VPP聚合运行模型;然后,基于随机图描绘VPP策略变化的随机特性;其次,用二阶随机动力学方程(stochastic dynamic equation,SDE)探索VPP收益结构的自发演化信息,修正其他主体策略变化时自身综合收益;再次,将修正收益作为融合软动作-评价(integrated soft actor–critic,ISAC)强化学习算法的奖励搭建多智能体求解框架。最后,设计多算法对比实验,验证了该文策略的自趋优性能。展开更多
基金supported by the National Natural Science Foundation of China(Grant No.61673327)the China Scholarship Council(Grant No.201606310153)the Aviation Science Foundation of China(Grant No.20160168001)
文摘This paper considers an affine maneuver tracking control problem for leader-follower type second-order multi-agent systems in the presence of time-varying delays, where the interaction topology is directed. Using the property of the affine transformation,this paper gives the sufficient and necessary conditions of achieving the affine localizability and extends it to the second-order condition. Under the(n + 1)-reachable condition of the given n-dimensional nominal formation with n + 1 leaders, a formation of agents can be reshaped in arbitrary dimension by only controlling these leaders. When the neighboring positions and velocities are available, a formation maneuver tracking control protocol with time-varying delays is constructed with the form of linear systems, where the tracking errors of the followers can be specified. Based on Lyapunov-Krasovskii stability theory, sufficient conditions to realize affine maneuvers are proposed and proved, and the unknown control gain matrix can be solved only by four linear matrix inequalities independent of the number of agents. Finally, corresponding simulations are carried out to verify the theoretical results, which show that these followers can track the time-varying references accurately and continuously.
基金co-supported by the National Natural Science Foundation of China (Nos. 61333011, 91216304 and 61121003)
文摘In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.
基金supported by the Fundamental Research Funds for the Central Universities under Grant No.2017JBM067the National Natural Science Foundation of China under Grant Nos.61503016 and 61403019the National Key Research and Development Program of China under Grant No.2017YFB0103202。
文摘This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objective is that the agents track the leader asymptotically with different time delays,i.e.,the agents in different groups reach delay consensus,while the agents in the same group reach identical consensus.To guarantee the cluster-delay consensus for the second-order multi-agent systems,a new control protocol is proposed.Then some corresponding conditions for cluster-delay consensus are derived by using Lyapunov directed method and matrix theory.Finally,the effectiveness of the theoretical analysis results are verified by some numerical simulations.
基金the National Natural Science Foundation of China under Grant Nos.61973329 and 61772063the Beijing Natural Science Foundation under Grant Nos.Z180005 and 9192008。
文摘This paper addresses the distributed adaptive optimization problem over second-order multi-agent networks(MANs)with nonuniform gradient gains.A general convex function consisting of a sum of local differentiable convex functions is chosen as the team objective function.First,based on the local information of each agent’s neighborhood,a novel distributed adaptive optimization algorithm with nonuniform gradient gains is designed,where these gains only have relations with agents’own states.And then,the original closed-loop system is changed into an equivalent one by taking a coordination transformation.Moreover,it is proved that the states including positions and velocities of all agents are bounded by constructing a Lyapunov function provided that the initial values are given.By the theory of Lyapunov stability,it is shown that all agents can finally reach an agreement and their position states converge to the optimal solution of the team objective function asymptotically.Finally,the effectiveness of the obtained theoretical results is demonstrated by several simulation examples.
基金supported by the National Natural Science Foundation of China (Grant No. 60904022)
文摘This paper deals with the consensus problem of multi-agent systems with second-order dynamics. The objective is to design algorithms such that all agents will have same positions and velocities. First, a reference model based consensus algorithm is proposed. It is proved that the consensus can be achieved if the communication graph has a spanning tree. Different from most of the consensus algorithms proposed in the literature, the parameters of the control laws are different among agents. Therefore, each agent can design its control law independently. Secondly, it gives a consensus algorithm for the case that the velocities of the agents are not available. Thirdly, the effectiveness of the input delay and the communication delay is considered. It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law. Finally, some numerical examples are given to illustrate the proposed results.
基金Project supported by the Major State Basic Research Development Program of China(Grant No.2012CB215202)the National Natrual Science Fundation of China(Grant Nos.61134001 and 61203080)the Fundamental Research Funds for the Central Universities(Grant Nos.ZYGX2010J113 andZYGX2010J114)
文摘This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts： the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.
基金This research was supported by National Natural Science Foundation of China under Grant 62003243Shanghai Municipal Science and Technology Major Project under grant 2021SHZDZX0100+1 种基金Shanghai Municipal Commission of Science and Technology Nos.19511132101National Key R&D Program of China,No.2018YFE0105000,2018YFB1305304.
文摘This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external disturbances.In contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more realistic.Moreover,the interaction topology is undirected and switching.Provided that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero asymptotically.The proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several states.An example is given to illustrate the validity of the theoretical results.
文摘分布式资源(distributed energy resources,DERs)的随机元素会引起多虚拟电厂(multi-virtual power plant,MVPP)系统内虚拟电厂(virtual power plant,VPP)策略频繁变化。对于某主体,如何感知其他主体策略突然变化时对自身收益的影响趋势,并快速调整自身策略,是亟需解决的难点。该文提出基于二阶随机动力学的多虚拟电厂自趋优能量管理策略,旨在提升VPP应对其他主体策略变化时的自治能力。首先,针对DERs异质运行特性,聚焦可调空间构建VPP聚合运行模型;然后,基于随机图描绘VPP策略变化的随机特性;其次,用二阶随机动力学方程(stochastic dynamic equation,SDE)探索VPP收益结构的自发演化信息,修正其他主体策略变化时自身综合收益;再次,将修正收益作为融合软动作-评价(integrated soft actor–critic,ISAC)强化学习算法的奖励搭建多智能体求解框架。最后,设计多算法对比实验,验证了该文策略的自趋优性能。
基金Supported by the National Natural Science Foundation of China(61174094,60904064)Specialized Research Fund for the Doctoral Program of Higher Education(20090031110029)the Program for New Century Excellent Talents in University of China(NCET-10-0506)
