A cyberphysical-based approach to leader-following consensus for distributed multi-agent systems
|
摘要
This paper considers a leader-following consensus problem for first-order linear multi-agent systems with constant input and communication time-delays. Based on the idea of cyber physical systems, the use of control states of neighboring agents, a new distributed control protocol is presented. Furthermore, in terms of linear matrix inequalities, sufficient conditions of leader-following consensus for multi-agent systems with constant input, communication and input time-delays are presented respectively. Numerical simulations on multi-agent systems are presented to demonstrate the efficiency of the proposed criteria.
This paper considers a leader-following consensus problem for first-order linear multi-agent systems with constant input and communication time-delays. Based on the idea of cyber physical systems, the use of control states of neighboring agents, a new distributed control protocol is presented. Furthermore, in terms of linear matrix inequalities, sufficient conditions of leader-following consensus for multi-agent systems with constant input, communication and input time-delays are presented respectively. Numerical simulations on multi-agent systems are presented to demonstrate the efficiency of the proposed criteria.
This paper considers a leader-following consensus problem for first-order linear multi-agent systems with constant input and communication time-delays. Based on the idea of cyber physical systems, the use of control states of neighboring agents, a new distributed control protocol is presented. Furthermore, in terms of linear matrix inequalities, sufficient conditions of leader-following consensus for multi-agent systems with constant input, communication and input time-delays are presented respectively. Numerical simulations on multi-agent systems are presented to demonstrate the efficiency of the proposed criteria.
引文
[1] Olfati-Saber R,Murray R M.Consensus problems in networks of agents with switching topology and time-delays[J].IEEE Transactions on Automatic Control,2004,49(9):1520-1533
[2] Olfati-Saber R,Fax J A,Murray R M.Consensus and Cooperation in Networked Multi-Agent Systems[J].Proceedings of the IEEE,2007,95(1):215-233
[3] Cao Y,Yu W,Ren W,et al.An overview of recent progress in the study of distributed multi-agent coordination[J].IEEE Transactions on Industrial Informatics,2013,9(1):427-438
[4] Reynolds,Craig W.Flocks,herds and schools:a distributed behavioral model[J].ACM Siggraph Computer Graphics,1987,21(4):25-34
[5] Vicsek T,Czirók A,Ben-Jacob E,et al.Novel type of phase transition in a system of self-driven particles[J].Physical Review Letters,2006,75(6):1226-1226
[6] Olfati-Saber R.Flocking for multi-agent dynamic systems:algorithms and theory[J].IEEE Transactions on Automatic Control,2006,51(3):401-420
[7] Wang L.State consensus for multi-agent systems with switching topologies and time-varying delays[J].International Journal of Control,2006,79(10):1277-1284
[8] Tian Y P,Yang H Y.Stability of the Internet Congestion Control with Diverse Delays[M].Pergamon Press,Inc.2004
[9] Tian Y P,Liu C L.Consensus of multi-agent systems with diverse input and communication delays[J].IEEE Transactions on Automatic Control,2008,53(9):2122-2128
[10] Bliman P A,Ferrari-Trecate G.Average consensus problems in networks of agents with delayed communications[J].Automatica,2008,44(4):1985-1995
[11] Lin P,Jia Y.Average consensus in networks of multi-agents with both switching topology and coupling time-delay[J].Physica A Statistical Mechanics & Its Applications,2008,387(1):303-313
[12] Ren W.Consensus strategies for cooperative control of vehicle formations[J].IET Control Theory & Applications,2007,1(2):505-512
[13] Xie G,Wang L.Consensus control for a class of networks of dynamic agents[J].International Journal of Robust and Nonlinear Control,2007,17(3):941-959
[14] Lin P,Jia Y M.Technical communique:consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies[J].Automatica,2009,45(9):2154-2158
[15] Song Q,Cao J,Yu W.Second-order leader-following consensus of nonlinear multi-agent systems via pinning control[J].Systems & Control Letters,2010,59(9):553-562
[16] Yu W,Chen G,Cao M.Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems[J].Automatica,2010,46(6):1089-1095
[17] Zhu W,Cheng D Z.Leader-following consensus of second-order agents with multiple time-varying delays[J].Automatica,2010,46(12):1994-1999
[18] Zhou B,Lin Z.Consensus of high-order multi-agent systems with large input and communication delays[J].Automatica,2014,50(2):452-464
[19] Ni W,Cheng D.Leader-following consensus of multi-agent systems under fixed and switching topologies[J].Systems & Control Letters,2010,59(3):209-217
[20] Hu J P,Feng G.Distributed tracking control of leader–follower multi-agent systems under noisy measurement[J].Automatica,2010,46(8):1382-1387
[21] Zhang H,Zhou J.Distributed impulsive consensus for second-order multi-agent systems with input delays[J].IET Control Theory & Applications,2013,7(16):1978-1983
[22] Sun F L,Guan Z H,Zhan X S,et al.Consensus of second-order and high-order discrete-time multi-agent systems with random networks[J].Nonlinear Analysis Real World Applications,2012,13(5):1979-1990
[23] Mo L,Niu Y,Pan T.Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection[J].Physica A Statistical Mechanics & Its Applications,2015,427:132-140
[24] Hu J,Hong Y.Leader-following coordination of multi-agent systems with coupling time delays[J].Physica A Statistical Mechanics & Its Applications,2007,374(2):853-863
[25] Couzin I D,Krause J,Franks N R,et al.Effective leadership and decision-making in animal groups on the move[J].Nature,2005,433(7025):513-516
[26] Fax J A,Murray R M.Information flow and cooperative control of vehicle formations[J].IEEE Transactions on Automatic Control,2004,49(1):115-120
[27] Bando M,Hasebe K,Nakayama A,et al.Dynamical model of traffic congestion and numerical simulation[J].Physical Review E Statistical Physics Plasmas Fluids & Related Interdisciplinary Topics,1995,51(2):1035
[28] Jiang R,Wu Q,Zhu Z.Full velocity difference model for a car-following theory[J].Phys Rev E Stat Nonlin Soft Matter Phys,2001,64(1 Pt 2):017101
[29] Sun D H,Liu H,Zhang G,et al.The new car following model considering vehicle dynamics influence and numerical simulation[J].International Journal of Modern Physics C,2015,26(07):1309
[30] Wei W,Slotine J J E.A theoretical study of different leader roles in networks[J].IEEE Transactions on Automatic Control,2006,51(7):1156-1161
[31] Notarstefano G,Egerstedt M,Haque M.Containment in leader-follower networks with switching communication topologies[J].Automatica,2011,47(5):1035-1040
[32] Liu B,Chu T,Wang L,et al.Controllability of a leader-follower dynamic network with switching topology[J].IEEE Transactions on Automatic Control,2008,53(4):1009-1013
[33] Rahman A,Ji M,Mesbahi M,et al.Conteroliability of multi-agnet systems from a graph-theoretic perspective[J].Siam Journal on Control and Optimization,2009,48(4):162-186
[34] Li Z,Ren W,Liu X,et al.Distributed consensus of linear multi-agent systems with adaptive dynamic protocols[J].Automatica,2013,49(7):1986-1995
[35] Wang C,Ji H.Leader-following consensus of multi-agent systems under directed communication topology via distributed adaptive nonlinear protocol[J].Systems & Control Letters,2014,70(7):23-29
[36] Derler P,Lee E A,Vincentelli A S.Modeling cyber-physical systems[J].Proceedings of the IEEE,2012,100(1):13-28
[37] Kim K D,Kumar P R.Cyber-physical systems:a perspective at the Centennial[J].Proceedings of the IEEE,2012,100(10):1287-1308
[38] Xiao F,Wang L.Consensus protocols for discrete-time multi-agent systems with time-varying delays[J].Automatica,2008,44(10):2577-2582
[39] Meng Z,Ren W,Cao Y,et al.Leaderless and leader-following consensus with communication and input delays under a directed network topology[J].IEEE Transactions on Systems Man & Cybernetics Part B Cybernetics A Publication of the IEEE Systems Man & Cybernetics Society,2011,41(1):75-88
[2] Olfati-Saber R,Fax J A,Murray R M.Consensus and Cooperation in Networked Multi-Agent Systems[J].Proceedings of the IEEE,2007,95(1):215-233
[3] Cao Y,Yu W,Ren W,et al.An overview of recent progress in the study of distributed multi-agent coordination[J].IEEE Transactions on Industrial Informatics,2013,9(1):427-438
[4] Reynolds,Craig W.Flocks,herds and schools:a distributed behavioral model[J].ACM Siggraph Computer Graphics,1987,21(4):25-34
[5] Vicsek T,Czirók A,Ben-Jacob E,et al.Novel type of phase transition in a system of self-driven particles[J].Physical Review Letters,2006,75(6):1226-1226
[6] Olfati-Saber R.Flocking for multi-agent dynamic systems:algorithms and theory[J].IEEE Transactions on Automatic Control,2006,51(3):401-420
[7] Wang L.State consensus for multi-agent systems with switching topologies and time-varying delays[J].International Journal of Control,2006,79(10):1277-1284
[8] Tian Y P,Yang H Y.Stability of the Internet Congestion Control with Diverse Delays[M].Pergamon Press,Inc.2004
[9] Tian Y P,Liu C L.Consensus of multi-agent systems with diverse input and communication delays[J].IEEE Transactions on Automatic Control,2008,53(9):2122-2128
[10] Bliman P A,Ferrari-Trecate G.Average consensus problems in networks of agents with delayed communications[J].Automatica,2008,44(4):1985-1995
[11] Lin P,Jia Y.Average consensus in networks of multi-agents with both switching topology and coupling time-delay[J].Physica A Statistical Mechanics & Its Applications,2008,387(1):303-313
[12] Ren W.Consensus strategies for cooperative control of vehicle formations[J].IET Control Theory & Applications,2007,1(2):505-512
[13] Xie G,Wang L.Consensus control for a class of networks of dynamic agents[J].International Journal of Robust and Nonlinear Control,2007,17(3):941-959
[14] Lin P,Jia Y M.Technical communique:consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies[J].Automatica,2009,45(9):2154-2158
[15] Song Q,Cao J,Yu W.Second-order leader-following consensus of nonlinear multi-agent systems via pinning control[J].Systems & Control Letters,2010,59(9):553-562
[16] Yu W,Chen G,Cao M.Some necessary and sufficient conditions for second-order consensus in multi-agent dynamical systems[J].Automatica,2010,46(6):1089-1095
[17] Zhu W,Cheng D Z.Leader-following consensus of second-order agents with multiple time-varying delays[J].Automatica,2010,46(12):1994-1999
[18] Zhou B,Lin Z.Consensus of high-order multi-agent systems with large input and communication delays[J].Automatica,2014,50(2):452-464
[19] Ni W,Cheng D.Leader-following consensus of multi-agent systems under fixed and switching topologies[J].Systems & Control Letters,2010,59(3):209-217
[20] Hu J P,Feng G.Distributed tracking control of leader–follower multi-agent systems under noisy measurement[J].Automatica,2010,46(8):1382-1387
[21] Zhang H,Zhou J.Distributed impulsive consensus for second-order multi-agent systems with input delays[J].IET Control Theory & Applications,2013,7(16):1978-1983
[22] Sun F L,Guan Z H,Zhan X S,et al.Consensus of second-order and high-order discrete-time multi-agent systems with random networks[J].Nonlinear Analysis Real World Applications,2012,13(5):1979-1990
[23] Mo L,Niu Y,Pan T.Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection[J].Physica A Statistical Mechanics & Its Applications,2015,427:132-140
[24] Hu J,Hong Y.Leader-following coordination of multi-agent systems with coupling time delays[J].Physica A Statistical Mechanics & Its Applications,2007,374(2):853-863
[25] Couzin I D,Krause J,Franks N R,et al.Effective leadership and decision-making in animal groups on the move[J].Nature,2005,433(7025):513-516
[26] Fax J A,Murray R M.Information flow and cooperative control of vehicle formations[J].IEEE Transactions on Automatic Control,2004,49(1):115-120
[27] Bando M,Hasebe K,Nakayama A,et al.Dynamical model of traffic congestion and numerical simulation[J].Physical Review E Statistical Physics Plasmas Fluids & Related Interdisciplinary Topics,1995,51(2):1035
[28] Jiang R,Wu Q,Zhu Z.Full velocity difference model for a car-following theory[J].Phys Rev E Stat Nonlin Soft Matter Phys,2001,64(1 Pt 2):017101
[29] Sun D H,Liu H,Zhang G,et al.The new car following model considering vehicle dynamics influence and numerical simulation[J].International Journal of Modern Physics C,2015,26(07):1309
[30] Wei W,Slotine J J E.A theoretical study of different leader roles in networks[J].IEEE Transactions on Automatic Control,2006,51(7):1156-1161
[31] Notarstefano G,Egerstedt M,Haque M.Containment in leader-follower networks with switching communication topologies[J].Automatica,2011,47(5):1035-1040
[32] Liu B,Chu T,Wang L,et al.Controllability of a leader-follower dynamic network with switching topology[J].IEEE Transactions on Automatic Control,2008,53(4):1009-1013
[33] Rahman A,Ji M,Mesbahi M,et al.Conteroliability of multi-agnet systems from a graph-theoretic perspective[J].Siam Journal on Control and Optimization,2009,48(4):162-186
[34] Li Z,Ren W,Liu X,et al.Distributed consensus of linear multi-agent systems with adaptive dynamic protocols[J].Automatica,2013,49(7):1986-1995
[35] Wang C,Ji H.Leader-following consensus of multi-agent systems under directed communication topology via distributed adaptive nonlinear protocol[J].Systems & Control Letters,2014,70(7):23-29
[36] Derler P,Lee E A,Vincentelli A S.Modeling cyber-physical systems[J].Proceedings of the IEEE,2012,100(1):13-28
[37] Kim K D,Kumar P R.Cyber-physical systems:a perspective at the Centennial[J].Proceedings of the IEEE,2012,100(10):1287-1308
[38] Xiao F,Wang L.Consensus protocols for discrete-time multi-agent systems with time-varying delays[J].Automatica,2008,44(10):2577-2582
[39] Meng Z,Ren W,Cao Y,et al.Leaderless and leader-following consensus with communication and input delays under a directed network topology[J].IEEE Transactions on Systems Man & Cybernetics Part B Cybernetics A Publication of the IEEE Systems Man & Cybernetics Society,2011,41(1):75-88