This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite stead...This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.展开更多
This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theor...This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theory, some new conditions for the nonlinear Lurie multi-agent systems reaching bipartite leaderless consensus and bipartite tracking consensus are presented. Compared with the traditional methods, this approach degrades the dimensions of the conditions, eliminates some restrictions of the system matrix, and extends the range of the nonlinear function. Finally, two numerical examples are provided to illustrate the efficiency of our results.展开更多
The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measuremen...The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measurement noise is present for the agent receiving the state information from its neighbors. Time-varying stochastic bipartite consensus protocols are designed in order to lessen the harmful effects of the noise. Consequently, the state transition matrix of the closed-loop system is analyzed, and sufficient and necessary conditions for the proposed protocol to be a mean square bipartite consensus protocol are given with the help of linear transformation and algebraic graph theory. It is proven that the signed digraph to be structurally balanced and having a spanning tree are the weakest communication assumptions for ensuring bipartite consensus. In particular, the proposed protocol is a mean square bipartite average consensus one if the signed digraph is also weight balanced.展开更多
This paper addresses the predefined-time bipartite tracking problem for second-order Multi-Agent Systems(MASs)with undirected signed topologies.A group of observers,which can estimate the state tracking errors for eac...This paper addresses the predefined-time bipartite tracking problem for second-order Multi-Agent Systems(MASs)with undirected signed topologies.A group of observers,which can estimate the state tracking errors for each follower in a pre-specified time,is proposed based on the time-varying function.In order to deal with the uncertainties caused by the unknown disturbances and the unknown input signal of the leader,we propose a predefined-time distributed control protocol based on the sliding mode control method.In addition,an auxiliary dynamic sliding variable is designed to reduce system chattering.Wetheoretically prove that the two control protocols can drive the state trajectories of each follower to reach the corresponding sliding surface within a specified time,and finally ensure that the prescribed-time bipartite tracking consensus is achieved for the MASs.Simulations are provided to verify the proposed schemes,and the simulation results further confirm the superiority of the adaptive control protocol.展开更多
This paper is concerned with the problem of adaptive bipartite tracking problem for multi-agentsystems (MASs) over signed directed graphs with unknown nonlinear functions. Each followingagent is modelled by a higher-o...This paper is concerned with the problem of adaptive bipartite tracking problem for multi-agentsystems (MASs) over signed directed graphs with unknown nonlinear functions. Each followingagent is modelled by a higher-order nonlinear system in nonstrict-feedback form. The virtualand the actual control items of the considered system are the power functions with positive oddintegers rather than linear items. A distributed neural-based adaptive backstepping scheme isproposed, where the unknown nonlinear dynamics are approximated by Neural networks. Underthe proposed protocol, the bipartite output tracking errors converge to a small neighbourhoodof the origin and all the signals of the closed-loop system remain semiglobally uniformly ultimatelybounded. Since the considered high-order non-strict feedback nonlinear MASs in ourpaper include some existing nonlinear MASs as the special case, our result can be extended tocontrol more general nonlinear MASs. Finally, the simulation results illustrate the validity of theproposed schemes by a numerical example and a practical example about a group of forceddamped pendulums.展开更多
In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a...In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.展开更多
文摘This paper is concerned with bipartite consensus tracking for multi-agent systems with unknown disturbances.A barrier function-based adaptive sliding-mode control(SMC)approach is proposed such that the bipartite steady-state error is converged to a predefined region of zero in finite time.Specifically,based on an error auxiliary taking neighboring antagonistic interactions into account,an SMC law is designed with an adaptive gain.The gain can switch to a positive semi-definite barrier function to ensure that the error auxiliary is constrained to a predefined neighborhood of zero,which in turn guarantees practical bipartite consensus tracking.A distinguished feature of the proposed controller is its independence on the bound of disturbances,while the input chattering phenomenon is alleviated.Finally,a numerical example is provided to verify the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China(Grant No.62363005)the Jiangxi Provincial Natural Science Foundation(Grant Nos.20161BAB212032 and 20232BAB202034)the Science and Technology Research Project of Jiangxi Provincial Department of Education(Grant Nos.GJJ202602 and GJJ202601)。
文摘This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theory, some new conditions for the nonlinear Lurie multi-agent systems reaching bipartite leaderless consensus and bipartite tracking consensus are presented. Compared with the traditional methods, this approach degrades the dimensions of the conditions, eliminates some restrictions of the system matrix, and extends the range of the nonlinear function. Finally, two numerical examples are provided to illustrate the efficiency of our results.
基金supported by the National Natural Science Foundation of China under Grant Nos.61104136,61673350,61573228the Natural Science Foundation of Shandong Province under Grant Nos.ZR2010FQ002,ZR2016FQ09+1 种基金Postgraduate Education Innovation Program of Shandong Province under Grant No.SDYY16088the Young Teacher Capability Enhancement Program for Overseas Study,Qufu Normal University
文摘The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measurement noise is present for the agent receiving the state information from its neighbors. Time-varying stochastic bipartite consensus protocols are designed in order to lessen the harmful effects of the noise. Consequently, the state transition matrix of the closed-loop system is analyzed, and sufficient and necessary conditions for the proposed protocol to be a mean square bipartite consensus protocol are given with the help of linear transformation and algebraic graph theory. It is proven that the signed digraph to be structurally balanced and having a spanning tree are the weakest communication assumptions for ensuring bipartite consensus. In particular, the proposed protocol is a mean square bipartite average consensus one if the signed digraph is also weight balanced.
基金the National Natural Science Foundation of China[grant number 61705127].
文摘This paper addresses the predefined-time bipartite tracking problem for second-order Multi-Agent Systems(MASs)with undirected signed topologies.A group of observers,which can estimate the state tracking errors for each follower in a pre-specified time,is proposed based on the time-varying function.In order to deal with the uncertainties caused by the unknown disturbances and the unknown input signal of the leader,we propose a predefined-time distributed control protocol based on the sliding mode control method.In addition,an auxiliary dynamic sliding variable is designed to reduce system chattering.Wetheoretically prove that the two control protocols can drive the state trajectories of each follower to reach the corresponding sliding surface within a specified time,and finally ensure that the prescribed-time bipartite tracking consensus is achieved for the MASs.Simulations are provided to verify the proposed schemes,and the simulation results further confirm the superiority of the adaptive control protocol.
基金the National Natural Science Foundation of China(Grant Number 61873151)in part by the Shandong Provincial Natural Science Foundation of China(Grant Number ZR2019MF009)the Taishan Scholar Project of Shandong Province of China(Grant Number tsqn201909078).
文摘This paper is concerned with the problem of adaptive bipartite tracking problem for multi-agentsystems (MASs) over signed directed graphs with unknown nonlinear functions. Each followingagent is modelled by a higher-order nonlinear system in nonstrict-feedback form. The virtualand the actual control items of the considered system are the power functions with positive oddintegers rather than linear items. A distributed neural-based adaptive backstepping scheme isproposed, where the unknown nonlinear dynamics are approximated by Neural networks. Underthe proposed protocol, the bipartite output tracking errors converge to a small neighbourhoodof the origin and all the signals of the closed-loop system remain semiglobally uniformly ultimatelybounded. Since the considered high-order non-strict feedback nonlinear MASs in ourpaper include some existing nonlinear MASs as the special case, our result can be extended tocontrol more general nonlinear MASs. Finally, the simulation results illustrate the validity of theproposed schemes by a numerical example and a practical example about a group of forceddamped pendulums.
基金supported in part by the National Natural Science Foundation of China(U1804147,61833001,61873139,61573129)the Innovative Scientists and Technicians Team of Henan Polytechnic University(T2019-2)the Innovative Scientists and Technicians Team of Henan Provincial High Education(20IRTSTHN019)。
文摘In this paper,an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism.For the agents described by a structurally balanced signed digraph,the asymmetric bipartite consensus objective is firstly defined,assigning the agents'output to different signs and module values.Considering with the completely unknown dynamics of the agents,a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents'triggered outputs and an equivalent compact form data model.By utilizing the Lyapunov analysis method,the threshold of the triggering condition is obtained.Subsequently,the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle.Finally,the simulation example further demonstrates the effectiveness of the protocol.
