pdf/event-triggered-consensus-control-of-heterogeneous-multi-1e9rv7nc73.pdf

Event-triggered consensus control of heterogeneous multi-agent systems: model- and data-based approaches

Signal quantization can reduce communication burden in multi-agent systems, whereas it brings control challenge to multi-agent formation tracking. This paper studies the output feedback control problem for formation tracking of multi-agent systems with both quantized input and output. The agents are described by a nonlinear dynamic model with unknown parameters and immeasurable states. To estimate immeasurable states and solve the uncertainties, state observers are developed by using dynamic high-gain tools. Through proper parameter designs, an output feedback quantized controller is established based on quantized output signals, and the quantization effect on the control system is eliminated. Stability analysis proves that, with the proposed control scheme, multi-agent systems can track the reference trajectory while forming and maintaining the desired formation shape. In addition, all the signals in the closed-loop systems are bounded. Finally, the numerical simulation and practical experiment are provided to verify the theoretical analysis.

Formation Tracking for Nonlinear Multi-agent Systems with Input and Output Quantization via Adaptive Output Feedback Control

This paper studies discrete-time high-order fully actuated (HOFA) model reference tracking (MRT) control for a class of combined spacecraft simulators (CSSs) with disturbances. Firstly, a discrete-time second-order fully actuated system modeling of the CSS system is carried out and generalized to a general discrete-time HOFA system (HOFAS) with disturbances, and the MRT control problem is formulated. Then, by designing a discrete-time HOFA MRT controller consisting of feedback and feedforward components, a linear closed-loop system with an arbitrarily assignable eigenstructure can be obtained. The convergence of the tracking error is proved by introducing the Sylvester equation condition and final value theorem of discrete-time sequence. Further, using the arbitrariness of the eigenstructure configuration, the control performance can be improved via a multi-objective optimization design. Finally, the MRT control of CSS system with disturbances is successfully realized using the proposed technique and comparative simulations are carried out, thus verifying the effectiveness and advantages of the technique. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners —This paper is inspired by MRT tasks for practical CSS systems and also contributes to the advancement of HOFAS theory in the discrete-time domain. Traditional researches on MRT control of discrete-time systems are basically carried out under the framework of the first-order state-space approach which are suitable for solving state vectors rather than control vectors, and thus it is difficult to handle the control problems of complex nonlinear systems. Moreover, converting the original higher-order system to a first-order one and then completing the associated control design would significantly increase the computational effort and complexity. Instead, this paper directly investigates the MRT control of discrete-time HOFASs and designs the HOFA MRT controller, which can easily handle nonlinearities and enable the system output to track the output of the reference model, and produce a closed-loop system with an arbitrarily assignable eigenstructure. Possible application areas include many discrete-time fully actuated systems in a practical or mathematical sense, including spacecraft control, robot or intelligent vehicle control, and UAV control, etc. As long as their discrete-time HOFA models can be established by physical modeling or model transformation, the techniques proposed in this paper are applicable.

Discrete-Time Model Reference Tracking Control for A Class of Combined Spacecraft: A High-Order Fully Actuated System Approach

An adaptive control approach is presented for time-varying formation control of multiple UAVs with nonholonomic constraints and input quantization. The UAVs are described by nonholonomic kinematic model and autopilot model with uncertainties. A transverse function is designed to release the nonholonomic constraints. To avoid chattering, an enhanced hysteretic quantizer is utilized to process the input signals. The quantized signals are analyzed by a new decomposition method to release some restrictions. Based on Lyapunov stability theory, the adaptive backstepping controller is proposed for the formation tracking of multiple UAVs. Tuning functions are devised to make estimations of the unknown parameters and disturbances. A transformation function is applied to the control inputs to eliminate quantization effect. Stability analysis proves that the tracking errors can converge to the origin asymptotically, and all the signals in the closed-loop system are globally bounded. A simulation example is provided to illustrate the effectiveness of the proposed approach. Based on the control approach, the multi-UAV system can track the reference trajectory while forming and maintaining the predefined formation shape.

Time-Varying Formation Tracking for Multiple UAVs with Nonholonomic Constraints and Input Quantization via Adaptive Backstepping Control

Networked predictive control is an effective method to handle time delays and data dropouts in networked control systems, but it is difficult to apply the control strategy to networked multi-agent systems. First, the computational burden will increase exceedingly when the control strategy is applied to networked multi-agent systems. Second, restrictions have to be imposed on the communication topology to implement the control strategy; Third, most existing networked predictive controllers lack robustness to model uncertainties. In this paper, these problems are solved by introducing predicting error to the control scheme. The proposed control strategy not only guarantees consensus and stability of the overall system, but also reduces the computational burden exceedingly. In addition, the proposed algorithm is robust to model uncertainties. At last, the proposed control strategy can be executed in distributed processors, therefore, flexibility and robustness are preserved for the networked multi-agent systems. These features make the control strategy applicable in practice. Digital simulations and experiments based on spacecraft simulators are carried out to verify the effectiveness of the proposed control strategy.

A networked predictive controller for linear multi-agent systems with communication time delays

Output-feedback Robust Tracking Control of Uncertain Systems via Adaptive Learning

A time-variant consensus tracking control problem for networked planar multi-agent systems with non-holonomic constraints is investigated in this paper. In the time-variant consensus tracking problem, a leader agent is expected to track a desired reference input, simultaneously, follower agents are expected to maintain a time-variant formation. To solve the time-variant consensus tracking problem of planar multi-agent systems with non-holonomic constraints, a time-variant consensus tracking control strategy is designed on the basis of an unidirectional topology structure. One of main contributions of this paper is the time-variant consensus tracking protocol for general time-variant formations of planar multi-agent systems with non-holonomic constraints, the other main contribution of this paper is an active predictive control strategy, where predictions of agents are generated actively, so that the computational efficiency is improved than passive approaches. The proposed control strategy is verified by two types of time-varying formations of wheeled mobile robots, and the experimental results show that the proposed control strategy is effective for general time-variant consensus tracking problems of planar multi-agent systems with non-holonomic constraints in local and worldwide networked environments.

Time-Variant Consensus Tracking Control for Networked Planar Multi-Agent Systems with Non-Holonomic Constraints

The simulation and experiment platforms are very important to the research of NCS(Networked Control System). A novel Simulink-based platform for simulations and experiments of Networked Control System is presented in this paper. Using cloud-side cross-compilation techniques, the installation becomes portable meanwhile the details of developed S-function are invisible to users. To support the NCS experiments, multiple cloud nodes are used to transmit the communication package to verify the proposed control systems in a real networked environment. A multiple-process-based time synchronization method is presented to synchronize the clocks in the NCS experiments. The proposed time synchronization is accurate and stable to implement the desired simulations and experiments. As application examples, a simulation and an experiment of the differentially driven wheeled-mobile-robot remote path tracking control are achieved on the proposed platform.

A novel NCS simulation and experimental platform

This paper proposed a model based remote control scheme of the wheeled mobile robot considering the communication delay and packet loss in the forward channel. The feedback control is designed, under which the error of position can converge to a neighbourhood of origin. The positive compensation of the communication delay and packet loss is proposed. Finally the proposed control strategies are valid by a simulation composed the mathematical kinematic model of WMRs and the real network environment

Model-based remote control of nonholonomic wheeled robot with time delay and packet loss in forward channel

A modularized output formation tracking control for mixed-order multi-agent systems is investigated. The multi-agent systems are composed of first-order and second-order integrators. The stability and formation tracking performance are analysed theoretically by the mathematical induction method. Finally, the effectiveness of the proposed modularized output control protocol is verified by simulation examples.

https://www.tandfonline.com/doi/pdf/10.1080/21642583.2022.2079021?needAccess=true

A novel modularized formation tracking control for mixed-order discrete-time multi-agent systems

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