The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is...The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem(FHOCP) can be solved by swarm intelligent optimization algorithm.Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance.Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function.Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.展开更多
The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and...The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and each member only shares the information with neighbors.The Chaotic Grey Wolf Optimization(CGWO)method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem(FHOCP).Then,the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint.Further,an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach,which considers the predicted state errors and the convergence of cost function.Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.展开更多
The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(a.k.a.network systems).To this end,we start by putting forth a novel distributed event-trigge...The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(a.k.a.network systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional approach.Marrying the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is established.Meanwhile,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data.Finally,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.展开更多
In this paper,the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system.To save the limited communication resources,an adaptive eventtriggered optimal guidance law is propos...In this paper,the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system.To save the limited communication resources,an adaptive eventtriggered optimal guidance law is proposed by designing a synchronization-error-driven triggering condition,which brings together the consensus control with Adaptive Dynamic Programming(ADP)technique.Then,the developed event-triggered distributed control law can be employed by finding an approximate solution of event-triggered coupled Hamilton-Jacobi-Bellman(HJB)equation.To address this issue,the critic network architecture is constructed,in which an adaptive weight updating law is designed for estimating the cooperative optimal cost function online.Therefore,the event-triggered closed-loop system is decomposed into two subsystems:the system with flow dynamics and the system with jump dynamics.By using Lyapunov method,the stability of this closed-loop system is guaranteed and all signals are ensured to be Uniformly Ultimately Bounded(UUB).Furthermore,the Zeno behavior is avoided.Simulation results are finally provided to demonstrate the effectiveness of the proposed method.展开更多
In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)m...In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.展开更多
This paper studies the tracking control of general linear multi-agent systems with out time delays. The observer-based event-triggered control schemes will be considered or with- For the conventional distributed track...This paper studies the tracking control of general linear multi-agent systems with out time delays. The observer-based event-triggered control schemes will be considered or with- For the conventional distributed tracking protocol, the authors will not update the relative state in continuous time, i.e., the relative state will be updated by some events which happened in discrete time. A completely decentralized event-trigger will be designed for leader-follower systems. It is shown that all followers can track the leader asymptotically by the proposed protocol, if the feedback gain matrices are designed appropriately. Numerical simulations are also provided and the results show highly consistent with the theoretical results.展开更多
For islanded microgrids(MGs),distributed control is regarded as a preferred alternative to centralized control for the frequency restoration of MGs.However,distributed control with successive communication restricts t...For islanded microgrids(MGs),distributed control is regarded as a preferred alternative to centralized control for the frequency restoration of MGs.However,distributed control with successive communication restricts the efficiency and resilience of the control system.To address this issue,this paper proposes a distributed event-triggered control strategy for the frequency secondary control in islanded MGs.The proposed event-triggered control is Zeno behavior free and enables each DG to update and propagate its state to neighboring DGs only when a specific“event”occurs,which significantly reduces the communication burden.Compared with the existing event-triggered control,a trigger condition checking period of the proposed event-triggered control is provided to reduce the computation burden when checking the trigger condition.Furthermore,using the aperiodicity and intermittent properties of the communication,a simple detection principle is proposed to detect and isolate the compromised communication links in a timely and economic fashion,which improves the resilience of the system against FDI attacks.Finally,the control effectiveness of the proposed control scheme is validated by the simulation results of the tests on an MG with 4 DGs.展开更多
In this paper,the distributed optimization problem is investigated for a class of general nonlinear model-free multi-agent systems.The dynamical model of each agent is unknown and only the input/output data are availa...In this paper,the distributed optimization problem is investigated for a class of general nonlinear model-free multi-agent systems.The dynamical model of each agent is unknown and only the input/output data are available.A model-free adaptive control method is employed,by which the original unknown nonlinear system is equivalently converted into a dynamic linearized model.An event-triggered consensus scheme is developed to guarantee that the consensus error of the outputs of all agents is convergent.Then,by means of the distributed gradient descent method,a novel event-triggered model-free adaptive distributed optimization algorithm is put forward.Sufficient conditions are established to ensure the consensus and optimality of the addressed system.Finally,simulation results are provided to validate the effectiveness of the proposed approach.展开更多
This paper investigates the problem of outlier-resistant distributed fusion filtering(DFF)for a class of multi-sensor nonlinear singular systems(MSNSSs)under a dynamic event-triggered scheme(DETS).To relieve the effec...This paper investigates the problem of outlier-resistant distributed fusion filtering(DFF)for a class of multi-sensor nonlinear singular systems(MSNSSs)under a dynamic event-triggered scheme(DETS).To relieve the effect of measurement outliers in data transmission,a self-adaptive saturation function is used.Moreover,to further reduce the energy consumption of each sensor node and improve the efficiency of resource utilization,a DETS is adopted to regulate the frequency of data transmission.For the addressed MSNSSs,our purpose is to construct the local outlier-resistant filter under the effects of the measurement outliers and the DETS;the local upper bound(UB)on the filtering error covariance(FEC)is derived by solving the difference equations and minimized by designing proper filter gains.Furthermore,according to the local filters and their UBs,a DFF algorithm is presented in terms of the inverse covariance intersection fusion rule.As such,the proposed DFF algorithm has the advantages of reducing the frequency of data transmission and the impact of measurement outliers,thereby improving the estimation performance.Moreover,the uniform boundedness of the filtering error is discussed and a corresponding sufficient condition is presented.Finally,the validity of the developed algorithm is checked using a simulation example.展开更多
Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model ...Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.展开更多
In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order...In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.展开更多
This paper introduces a novel fully distributed economic power dispatch(EPD)strategy for distribution networks,integrating dynamic tariffs.A two-layer model is proposed:the first layer comprises the physical power dis...This paper introduces a novel fully distributed economic power dispatch(EPD)strategy for distribution networks,integrating dynamic tariffs.A two-layer model is proposed:the first layer comprises the physical power distribution network,including photovoltaic(PV)sources,wind turbine(WT)generators,energy storage systems(ESS),flexible loads(FLs),and other inflexible loads.The upper layer consists of agents dedicated to communication,calculation,and control tasks.Unlike previous EPD strategies,this approach incorporates dynamic tariffs derived from voltage constraints to ensure compliance with nodal voltage constraints.Addi-tionally,a fast distributed optimization algorithm with an event-triggered communication protocol has been developed to address the EPD problem effectively.Through mathematical and simulation analyses,the proposed algorithm's efficiency and rapid conver-gence capability are demonstrated.展开更多
基金supported in part by the National Natural Science Foundation of China(No.61803009)Fundamental Research Funds for the Central Universities,China(No.YWF-19-BJ-J-205)Aeronautical Science Foundation of China(No.20175851032)。
文摘The paper proposes a Virtual Target Guidance(VTG)-based distributed Model Predictive Control(MPC) scheme for formation control of multiple Unmanned Aerial Vehicles(UAVs).First, a framework of distributed MPC scheme is designed in which each UAV only shares the information with its neighbors, and the obtained local Finite-Horizon Optimal Control Problem(FHOCP) can be solved by swarm intelligent optimization algorithm.Then, a VTG approach is developed and integrated into the distributed MPC scheme to achieve trajectory tracking and obstacle avoidance.Further, an event-triggered mechanism is proposed to reduce the computational burden for UAV formation control, which takes into consideration the predictive state errors as well as the convergence of cost function.Numerical simulations show that the proposed VTG-based distributed MPC scheme is more computationally efficient to achieve formation control of multiple UAVs in comparison with the traditional distributed MPC method.
基金co-supported by the National Natural Science Foundation of China(Nos.61803009,61903084)Fundamental Research Funds for the Central Universities of China(No.YWF-20-BJ-J-542)Aeronautical Science Foundation of China(No.20175851032)。
文摘The paper proposes a new swarm intelligence-based distributed Model Predictive Control(MPC)approach for coordination control of multiple Unmanned Aerial Vehicles(UAVs).First,a distributed MPC framework is designed and each member only shares the information with neighbors.The Chaotic Grey Wolf Optimization(CGWO)method is developed on the basis of chaotic initialization and chaotic search to solve the local Finite Horizon Optimal Control Problem(FHOCP).Then,the distributed cost function is designed and integrated into each FHOCP to achieve multi-UAV formation control and trajectory tracking with no-fly zone constraint.Further,an event-triggered strategy is proposed to reduce the computational burden for the distributed MPC approach,which considers the predicted state errors and the convergence of cost function.Simulation results show that the CGWO-based distributed MPC approach is more computationally efficient to achieve multi-UAV coordination control than traditional method.
基金supported in part by the National Key Research and Development Program of China(2021YFB1714800)the National Natural Science Foundation of China(62088101,61925303,62173034,U20B2073)+1 种基金the Natural Science Foundation of Chongqing(2021ZX4100027)the Deutsche Forschungsgemeinschaft(DFG,German Research Foundation)under Germanys Excellence Strategy—EXC 2075-390740016(468094890)。
文摘The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(a.k.a.network systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional approach.Marrying the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is established.Meanwhile,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data.Finally,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure.
基金co-supported by the National Natural Science Foundation of China(No.62003036)China Postdoctoral Science Foundation(No.2019TQ0037)。
文摘In this paper,the multi-missile cooperative guidance system is formulated as a general nonlinear multi-agent system.To save the limited communication resources,an adaptive eventtriggered optimal guidance law is proposed by designing a synchronization-error-driven triggering condition,which brings together the consensus control with Adaptive Dynamic Programming(ADP)technique.Then,the developed event-triggered distributed control law can be employed by finding an approximate solution of event-triggered coupled Hamilton-Jacobi-Bellman(HJB)equation.To address this issue,the critic network architecture is constructed,in which an adaptive weight updating law is designed for estimating the cooperative optimal cost function online.Therefore,the event-triggered closed-loop system is decomposed into two subsystems:the system with flow dynamics and the system with jump dynamics.By using Lyapunov method,the stability of this closed-loop system is guaranteed and all signals are ensured to be Uniformly Ultimately Bounded(UUB).Furthermore,the Zeno behavior is avoided.Simulation results are finally provided to demonstrate the effectiveness of the proposed method.
基金supported in part by the Foundation(No.2019-JCJQ-ZD-049)the National Natural Science Foundation of China(Nos.61703134,62022060,62073234,61773278)+2 种基金The China Postdoctoral Science Foundation(No.2019M650874)The Key R&D Program of Hebei Province(No.20310802D)the Natural Science Foundation of Hebei Province(Nos.F2019202369,F2018202279,F2019202363)。
文摘In this paper,periodic event-triggered formation control problems with collision avoidance are studied for leader–follower multiple Unmanned Aerial Vehicles(UAVs).Firstly,based on the Artificial Potential Field(APF)method,a novel sliding manifold is proposed for controller design,which can solve the problem of collision avoidance.Then,the event-triggered strategy is applied to the distributed formation control of multi-UAV systems,where the evaluation of the event condition is continuous.In addition,the exclusion of Zeno behavior can be guaranteed by the inter-event time between two successive trigger events have a positive lower bound.Next,a periodic event-triggered mechanism is developed for formation control based on the continuous eventtriggered mechanism.The periodic trigger mechanism does not need additional hardware circuits and sophisticated sensors,which can reduce the control cost.The stability of the control system is proved by the Lyapunov function method.Finally,some numerical simulations are presented to illustrate the effectiveness of the proposed control protocol.
基金supported by the 863 Program under Grant No.2012AA041709the National Natural Science Foundation of China under Grant No.61333007
文摘This paper studies the tracking control of general linear multi-agent systems with out time delays. The observer-based event-triggered control schemes will be considered or with- For the conventional distributed tracking protocol, the authors will not update the relative state in continuous time, i.e., the relative state will be updated by some events which happened in discrete time. A completely decentralized event-trigger will be designed for leader-follower systems. It is shown that all followers can track the leader asymptotically by the proposed protocol, if the feedback gain matrices are designed appropriately. Numerical simulations are also provided and the results show highly consistent with the theoretical results.
基金supported by the National Key Research and Development Program of China(Basic Research Class)(2017YFB0903000)the National Natural Science Foundation of China(U1909201).
文摘For islanded microgrids(MGs),distributed control is regarded as a preferred alternative to centralized control for the frequency restoration of MGs.However,distributed control with successive communication restricts the efficiency and resilience of the control system.To address this issue,this paper proposes a distributed event-triggered control strategy for the frequency secondary control in islanded MGs.The proposed event-triggered control is Zeno behavior free and enables each DG to update and propagate its state to neighboring DGs only when a specific“event”occurs,which significantly reduces the communication burden.Compared with the existing event-triggered control,a trigger condition checking period of the proposed event-triggered control is provided to reduce the computation burden when checking the trigger condition.Furthermore,using the aperiodicity and intermittent properties of the communication,a simple detection principle is proposed to detect and isolate the compromised communication links in a timely and economic fashion,which improves the resilience of the system against FDI attacks.Finally,the control effectiveness of the proposed control scheme is validated by the simulation results of the tests on an MG with 4 DGs.
基金Project supported by the National Natural Science Foundation of China(No.62003213)。
文摘In this paper,the distributed optimization problem is investigated for a class of general nonlinear model-free multi-agent systems.The dynamical model of each agent is unknown and only the input/output data are available.A model-free adaptive control method is employed,by which the original unknown nonlinear system is equivalently converted into a dynamic linearized model.An event-triggered consensus scheme is developed to guarantee that the consensus error of the outputs of all agents is convergent.Then,by means of the distributed gradient descent method,a novel event-triggered model-free adaptive distributed optimization algorithm is put forward.Sufficient conditions are established to ensure the consensus and optimality of the addressed system.Finally,simulation results are provided to validate the effectiveness of the proposed approach.
基金Project supported by the National Natural Science Foundation of China(No.12171124)the Natural Science Foundation of Heilongjiang Province of China(No.ZD2022F003)+1 种基金the National High-end Foreign Experts Recruitment Plan of China(No.G2023012004L)the Alexander von Humboldt Foundation of Germany。
文摘This paper investigates the problem of outlier-resistant distributed fusion filtering(DFF)for a class of multi-sensor nonlinear singular systems(MSNSSs)under a dynamic event-triggered scheme(DETS).To relieve the effect of measurement outliers in data transmission,a self-adaptive saturation function is used.Moreover,to further reduce the energy consumption of each sensor node and improve the efficiency of resource utilization,a DETS is adopted to regulate the frequency of data transmission.For the addressed MSNSSs,our purpose is to construct the local outlier-resistant filter under the effects of the measurement outliers and the DETS;the local upper bound(UB)on the filtering error covariance(FEC)is derived by solving the difference equations and minimized by designing proper filter gains.Furthermore,according to the local filters and their UBs,a DFF algorithm is presented in terms of the inverse covariance intersection fusion rule.As such,the proposed DFF algorithm has the advantages of reducing the frequency of data transmission and the impact of measurement outliers,thereby improving the estimation performance.Moreover,the uniform boundedness of the filtering error is discussed and a corresponding sufficient condition is presented.Finally,the validity of the developed algorithm is checked using a simulation example.
基金supported by the Beijing Municipal Science&Technology Commission China(No.Z19111000270000)the National Natural Science Foundation of China(Nos.62203050,51774042).
文摘Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.
基金supported by National Key R&D Program of China(No.2018YFA0703800)Science Fund for Creative Research Group of the National Natural Science Foundation of China(No.61621002)。
文摘In this paper,the event-triggered consensus control problem for nonlinear uncertain multi-agent systems subject to unknown parameters and external disturbances is considered.The dynamics of subsystems are second-order with similar structures,and the nodes are connected by undirected graphs.The event-triggered mechanisms are not only utilized in the transmission of information from the controllers to the actuators,and from the sensors to the controllers within each agent,but also in the communication between agents.Based on the adaptive backstepping method,extra estimators are introduced to handle the unknown parameters,and the measurement errors that occur during the event-triggered communication are well handled by designing compensating terms for the control signals.The presented distributed event-triggered adaptive control laws can guarantee the boundness of the consensus tracking errors and the Zeno behavior is avoided.Meanwhile,the update frequency of the controllers and the load of communication burden are vastly reduced.The obtained control protocol is further applied to a multi-input multi-output second-order nonlinear multi-agent system,and the simulation results show the effectiveness and advantages of our proposed method.
文摘This paper introduces a novel fully distributed economic power dispatch(EPD)strategy for distribution networks,integrating dynamic tariffs.A two-layer model is proposed:the first layer comprises the physical power distribution network,including photovoltaic(PV)sources,wind turbine(WT)generators,energy storage systems(ESS),flexible loads(FLs),and other inflexible loads.The upper layer consists of agents dedicated to communication,calculation,and control tasks.Unlike previous EPD strategies,this approach incorporates dynamic tariffs derived from voltage constraints to ensure compliance with nodal voltage constraints.Addi-tionally,a fast distributed optimization algorithm with an event-triggered communication protocol has been developed to address the EPD problem effectively.Through mathematical and simulation analyses,the proposed algorithm's efficiency and rapid conver-gence capability are demonstrated.
