Consensus of stochastic multi-agent systems with unknown nonlinearities and unknown control coefficients
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- 英文论文题名：Consensus of stochastic multi-agent systems with unknown nonlinearities and unknown control coefficients
- 论文作者：Niu Xinglong ; Liu Yungang ; Fengzhong Li
- 英文论文作者：Niu Xinglong ; Liu Yungang ; Fengzhong Li ; School of Control Science and Engineering ; Shandong University
- 年：2017
- 作者机构：School of Control Science and Engineering,Shandong University;
- 英文论文关键词：Stochastic multi-agent systems ; unknown nonlinearities ; unknown control coefficients ; almost sure consensus ; time-varying feedback
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：O231
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：5
- 文件大小：233k
- 原文格式：D
- 会议级别：全国
摘要
This paper investigates the consensus for a class of first-order stochastic nonlinear multi-agent systems. Different from the related results, the systems allow serious unknown control coefficients and parametric unknowns in nonlinearities. To compensate the serious unknowns, a distributed time-varying consensus protocol is proposed. The key of the proposed protocol is to introduce a time-varying gain which is used to capture the serious unknowns as time increases. Based on the protocol, the almost sure consensus is achieved for the multi-agent systems under strongly connected graph. A simulation example is finally provided to verify the effectiveness of the theoretical results.
This paper investigates the consensus for a class of first-order stochastic nonlinear multi-agent systems. Different from the related results, the systems allow serious unknown control coefficients and parametric unknowns in nonlinearities. To compensate the serious unknowns, a distributed time-varying consensus protocol is proposed. The key of the proposed protocol is to introduce a time-varying gain which is used to capture the serious unknowns as time increases. Based on the protocol, the almost sure consensus is achieved for the multi-agent systems under strongly connected graph. A simulation example is finally provided to verify the effectiveness of the theoretical results.
This paper investigates the consensus for a class of first-order stochastic nonlinear multi-agent systems. Different from the related results, the systems allow serious unknown control coefficients and parametric unknowns in nonlinearities. To compensate the serious unknowns, a distributed time-varying consensus protocol is proposed. The key of the proposed protocol is to introduce a time-varying gain which is used to capture the serious unknowns as time increases. Based on the protocol, the almost sure consensus is achieved for the multi-agent systems under strongly connected graph. A simulation example is finally provided to verify the effectiveness of the theoretical results.
引文
[1]K.Chang,Y.Xia,K.Huang,“Coordinated formation control design with obstacle avoidance in three-dimensional space,”Journal of the Franklin Institute,352(12):5779-5795,2015.
[2]Y.Zhao,L.Ding,G.Guo,G.Yang,“Event-triggered average consensus for mobile sensor networks under a given energy budget,”Journal of the Franklin Institute,352(12):5646-5660,2015.
[3]S.Yang,S.Tan,J.X.Xu“Consensus based approach for economic dispatch problem in a smart grid,”IEEE Transactions on Power Systems,28(4):4416-4426,2013.
[4]B.Gharesifard,J.Cortes,“Distributed continuous-time convex optimization on weight-balanced digraph,”IEEE Transactions on Automatic Control,59(3):781-786,2014.
[5]R.Olfati-Saber and R.M.Murray,“Consensus problems in networks of agents with switching topology and time-delays,”IEEE Transactions on Automatic Control,49(9):1520-1533,2004.
[6]Y.G.Hong,J.P.Hu and L.X.Gao,“Tracking control for multi-agent consensus with an active leader and variable topology,”Automatica,42(7):1177-1182,2006.
[7]Y.G.Hong,G.R.Chen and L.Bushnell,“Distributed observers design for leader-following control of multi-agent networks,”Automatica,44(3):846-850,2008.
[8]W.Yu,G.Chen,M.Cao,J.Kurths,“Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics,”IEEE Transactions on Systems,Man,and Cybernetics,Part B,40(3),881-891,2010.
[9]Z.K.Li,W.Ren,X.D.Liu and M.Y.Fu,“Consensus of multi-agent systems with general linear and Lipschitz nonlinear dynamics using distributed adaptive protocol,”IEEETransactions on Automatic Control,58(7):1786-1791,2013.
[10]C.Q.Ma and J.F.Zhang,“Necessary and sufficient conditions for consensusability of linear multi-agent systems,”IEEE Transactions on Automatic Control,55(5):1263-1268,2010.
[11]W.Ni and D.Z.Cheng,“Leader-following consensus of multi-agent systems under fixed and switching topologies,”Systems&Control Letters,59(3):209-217,2010.
[12]L.Cheng,Z.G.Hou,M.Tan,T.Z.Lin and W.J.Zhang,“Neural-network-based adaptive leader-following control for multiagent systems with uncertainties”,IEEE Transactions on Neural Networks,21(8):1351-1358,2010.
[13]A.Das and F.L.Lewis,“Distributed adaptive control for synchronization of unknown nonlinear networked systems,”Automatica,46(12):2014-2021,2010.
[14]T.Li,J.F.Zhang,“Mean square average-consensus under measurement noises and fixed topologies:necessary and sufficient conditions,”Automatica,45(8):1929-1936,2009.
[15]J.Hu,G.Feng“Distributed tracking control of leader Cfollower multi-agent systems under noisy measurement,”Automatica,46(8):1382-1387,2010.
[16]C.Ma,T.Li,J.F.Zhang“Consensus control for leaderfollowing multi-agent systems with measurement noises,”Journal of Systems Science and Complexity,23(1):35-49,2010.
[17]T.Li,F.Wu,J.F.Zhang,“Multi-agent consensus with relative-state-dependent measurement noises,”IEEE Transactions on Automatic Control,59(9):2463-2468,2014.
[18]L.Cheng,Z.G.Hou,M.Tan,“A mean square consensus protocol for linear multi-agent systems with communication noises and fixed topologies,”IEEE Transactions on Automatic Control,59(1):261-267,2014.
[19]H.B.Tang,T.Li,“Continuous-time stochastic consensus:stochastic approximation and Kalman-Bucy filtering based protocols,”Automatica,61:146-155,2015.
[20]G.Wen,Z.Duan,Z.Li,G.Chen,“Stochastic consensus in directed networks of agents with non-linear dynamics and repairable actuator failures,”IET control theory&applications,6(11):1583-1593,2012.
[21]G.Russo,R.Shorten,“On noise-induced synchronization and consensus,”ar Xiv preprint ar Xiv:1602.06467,2016.
[22]W.Li,J.F.Zhang,“Distributed practical output tracking of high-order stochastic multi-agent systems with inherent nonlinear drift and diffusion terms,”Automatica,50(12):3231-3238,2014.
[23]Y.G.Liu,“Global asymptotic regulation via time-varying output feedback for a class of uncertain nonlinear systems,”SIAM Journal on Control and Optimization,51(6):4318-4342,2013.
[24]Y.G.Liu,“Finite-time stabilization via time-varying feedback for uncertain nonlinear systems,”SIAM Journal on Control and Optimization,52(3):1886-1913,2014.
[25]F.Z.Li,Y.G.Liu,“Global stabilization via time-varying output-feedback for stochastic nonlinear systems with unknown growth rate,”Systems&Control Letters,77:69-79,2015.
[26]R.Khasminskii,Stochastic stability of differential equations,Second Edition,Springer Science&Business Media,2011.
[27]X.R.Mao,Stochastic Differential Equations and Applications,Second Edition,Elsevier,2007.
[2]Y.Zhao,L.Ding,G.Guo,G.Yang,“Event-triggered average consensus for mobile sensor networks under a given energy budget,”Journal of the Franklin Institute,352(12):5646-5660,2015.
[3]S.Yang,S.Tan,J.X.Xu“Consensus based approach for economic dispatch problem in a smart grid,”IEEE Transactions on Power Systems,28(4):4416-4426,2013.
[4]B.Gharesifard,J.Cortes,“Distributed continuous-time convex optimization on weight-balanced digraph,”IEEE Transactions on Automatic Control,59(3):781-786,2014.
[5]R.Olfati-Saber and R.M.Murray,“Consensus problems in networks of agents with switching topology and time-delays,”IEEE Transactions on Automatic Control,49(9):1520-1533,2004.
[6]Y.G.Hong,J.P.Hu and L.X.Gao,“Tracking control for multi-agent consensus with an active leader and variable topology,”Automatica,42(7):1177-1182,2006.
[7]Y.G.Hong,G.R.Chen and L.Bushnell,“Distributed observers design for leader-following control of multi-agent networks,”Automatica,44(3):846-850,2008.
[8]W.Yu,G.Chen,M.Cao,J.Kurths,“Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics,”IEEE Transactions on Systems,Man,and Cybernetics,Part B,40(3),881-891,2010.
[9]Z.K.Li,W.Ren,X.D.Liu and M.Y.Fu,“Consensus of multi-agent systems with general linear and Lipschitz nonlinear dynamics using distributed adaptive protocol,”IEEETransactions on Automatic Control,58(7):1786-1791,2013.
[10]C.Q.Ma and J.F.Zhang,“Necessary and sufficient conditions for consensusability of linear multi-agent systems,”IEEE Transactions on Automatic Control,55(5):1263-1268,2010.
[11]W.Ni and D.Z.Cheng,“Leader-following consensus of multi-agent systems under fixed and switching topologies,”Systems&Control Letters,59(3):209-217,2010.
[12]L.Cheng,Z.G.Hou,M.Tan,T.Z.Lin and W.J.Zhang,“Neural-network-based adaptive leader-following control for multiagent systems with uncertainties”,IEEE Transactions on Neural Networks,21(8):1351-1358,2010.
[13]A.Das and F.L.Lewis,“Distributed adaptive control for synchronization of unknown nonlinear networked systems,”Automatica,46(12):2014-2021,2010.
[14]T.Li,J.F.Zhang,“Mean square average-consensus under measurement noises and fixed topologies:necessary and sufficient conditions,”Automatica,45(8):1929-1936,2009.
[15]J.Hu,G.Feng“Distributed tracking control of leader Cfollower multi-agent systems under noisy measurement,”Automatica,46(8):1382-1387,2010.
[16]C.Ma,T.Li,J.F.Zhang“Consensus control for leaderfollowing multi-agent systems with measurement noises,”Journal of Systems Science and Complexity,23(1):35-49,2010.
[17]T.Li,F.Wu,J.F.Zhang,“Multi-agent consensus with relative-state-dependent measurement noises,”IEEE Transactions on Automatic Control,59(9):2463-2468,2014.
[18]L.Cheng,Z.G.Hou,M.Tan,“A mean square consensus protocol for linear multi-agent systems with communication noises and fixed topologies,”IEEE Transactions on Automatic Control,59(1):261-267,2014.
[19]H.B.Tang,T.Li,“Continuous-time stochastic consensus:stochastic approximation and Kalman-Bucy filtering based protocols,”Automatica,61:146-155,2015.
[20]G.Wen,Z.Duan,Z.Li,G.Chen,“Stochastic consensus in directed networks of agents with non-linear dynamics and repairable actuator failures,”IET control theory&applications,6(11):1583-1593,2012.
[21]G.Russo,R.Shorten,“On noise-induced synchronization and consensus,”ar Xiv preprint ar Xiv:1602.06467,2016.
[22]W.Li,J.F.Zhang,“Distributed practical output tracking of high-order stochastic multi-agent systems with inherent nonlinear drift and diffusion terms,”Automatica,50(12):3231-3238,2014.
[23]Y.G.Liu,“Global asymptotic regulation via time-varying output feedback for a class of uncertain nonlinear systems,”SIAM Journal on Control and Optimization,51(6):4318-4342,2013.
[24]Y.G.Liu,“Finite-time stabilization via time-varying feedback for uncertain nonlinear systems,”SIAM Journal on Control and Optimization,52(3):1886-1913,2014.
[25]F.Z.Li,Y.G.Liu,“Global stabilization via time-varying output-feedback for stochastic nonlinear systems with unknown growth rate,”Systems&Control Letters,77:69-79,2015.
[26]R.Khasminskii,Stochastic stability of differential equations,Second Edition,Springer Science&Business Media,2011.
[27]X.R.Mao,Stochastic Differential Equations and Applications,Second Edition,Elsevier,2007.