Event-Triggered Consensus Tracking Control of Stochastic Nonlinear Multiagent Systems

This paper addresses the event-triggered consensus tracking problem for a class of higher order stochastic nonlinear multiagent systems. First, we propose a new protocol design framework. Then, a novel adaptive consensus tracking protocol, under which the continuous communication is not required, is developed for the stochastic nonlinear multiagent systems. Using the Lyapunov functional approach and the stochastic theory, it is proven that the consensus tracking control objective can be achieved by the designed control law. The Zeno behavior was excluded by showing that there exists a lower bound for interevent instants. Finally, to verify the effectiveness of the given event-triggered control scheme, two numerical examples are provided.

[1]  Dimos V. Dimarogonas,et al.  Multi-Agent Second Order Average Consensus With Prescribed Transient Behavior , 2017, IEEE Transactions on Automatic Control.

[2]  Yongcan Cao,et al.  Finite-time consensus for multi-agent networks with unknown inherent nonlinear dynamics , 2013, Autom..

[3]  Xinghuo Yu,et al.  Distributed Active Anti-Disturbance Consensus for Leader-Follower Higher-Order Multi-Agent Systems With Mismatched Disturbances , 2017, IEEE Transactions on Automatic Control.

[4]  Patrick Benavidez,et al.  Decentralized Motion Coordination for a Formation of Rovers , 2009, IEEE Systems Journal.

[5]  Yang Cao,et al.  Observer-Based Consensus Tracking of Nonlinear Agents in Hybrid Varying Directed Topology , 2017, IEEE Transactions on Cybernetics.

[6]  Warren E. Dixon,et al.  Event-Triggered Control of Multiagent Systems for Fixed and Time-Varying Network Topologies , 2017, IEEE Transactions on Automatic Control.

[7]  Long Wang,et al.  Consensus of Hybrid Multi-Agent Systems , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[8]  Jinde Cao,et al.  Event-triggered consensus of multi-agent systems with noises , 2015, J. Frankl. Inst..

[9]  Jie Huang,et al.  Event-Triggered Global Robust Output Regulation for a Class of Nonlinear Systems , 2017, IEEE Transactions on Automatic Control.

[10]  Yongduan Song,et al.  Leader-following control of high-order multi-agent systems under directed graphs: Pre-specified finite time approach , 2018, Autom..

[11]  Long Wang,et al.  Consensus of Multi-Agent Systems in Directed Networks With Nonuniform Time-Varying Delays , 2009, IEEE Transactions on Automatic Control.

[12]  Changchun Hua,et al.  Event-Triggered Leader-Following Consensus for Nonlinear Multiagent Systems Subject to Actuator Saturation Using Dynamic Output Feedback Method , 2018, IEEE Transactions on Automatic Control.

[13]  Carlos Silvestre,et al.  Synchronization of Multiagent Systems Using Event-Triggered and Self-Triggered Broadcasts , 2017, IEEE Transactions on Automatic Control.

[14]  Jinde Cao,et al.  Leader-following mean square consensus of stochastic multi-agent systems with input delay via event-triggered control , 2018 .

[15]  Xinghuo Yu,et al.  Higher order finite-time consensus protocol for heterogeneous multi-agent systems , 2015, Int. J. Control.

[16]  Zheng-Guang Wu,et al.  Event-Triggered Control for Consensus of Multiagent Systems With Fixed/Switching Topologies , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[17]  Choon Ki Ahn,et al.  Mean Square Leader–Following Consensus of Second-Order Nonlinear Multiagent Systems With Noises and Unmodeled Dynamics , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[18]  Jiangping Hu,et al.  Distributed tracking control of leader-follower multi-agent systems under noisy measurement , 2011, Autom..

[19]  C. Qian,et al.  Global output feedback stabilization of upper‐triangular nonlinear systems using a homogeneous domination approach , 2006 .

[20]  Yisheng Zhong,et al.  Time-Varying Formation Control for Unmanned Aerial Vehicles: Theories and Applications , 2015, IEEE Transactions on Control Systems Technology.

[21]  Zongli Lin,et al.  Distributed Consensus Control of Multi-Agent Systems With Higher Order Agent Dynamics and Dynamically Changing Directed Interaction Topologies , 2016, IEEE Transactions on Automatic Control.

[22]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[23]  Long Wang,et al.  Finite-time formation control for multi-agent systems , 2009, Autom..

[24]  Xiao Lu,et al.  Three-dimensional impact angle constrained distributed guidance law design for cooperative attacks. , 2018, ISA transactions.

[25]  Yang Song,et al.  Event-Triggered Communication for Leader-Following Consensus of Second-Order Multiagent Systems , 2018, IEEE Transactions on Cybernetics.

[26]  Ya-Jun Pan,et al.  Consensus of Linear Multiagent Systems With Input-Based Triggering Condition , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[27]  Jie Huang,et al.  Adaptive leader-following consensus for a class of higher-order nonlinear multi-agent systems with directed switching networks , 2016, Autom..

[28]  Yongguang Yu,et al.  Mean square consensus of stochastic multi-agent systems with nonlinear dynamics by distributed event-triggered strategy , 2019, Int. J. Control.

[29]  Bo Sun,et al.  Disturbance observer-based control for consensus tracking of multi-agent systems with input delays from a frequency domain perspective , 2018, Syst. Control. Lett..

[30]  Zhong-Ping Jiang,et al.  Distributed Global Output-Feedback Control for a Class of Euler–Lagrange Systems , 2017, IEEE Transactions on Automatic Control.

[31]  Fuchun Sun,et al.  Fuzzy Adaptive Disturbance-Observer-Based Robust Tracking Control of Electrically Driven Free-Floating Space Manipulator , 2014, IEEE Systems Journal.

[32]  Karl Henrik Johansson,et al.  Distributed model based event-triggered control for synchronization of multi-agent systems , 2016, Autom..

[33]  Ella M. Atkins,et al.  Distributed multi‐vehicle coordinated control via local information exchange , 2007 .

[34]  Behrooz Safarinejadian,et al.  Consensus Filter-Based Distributed Variational Bayesian Algorithm for Flow and Speed Density Prediction With Distributed Traffic Sensors , 2017, IEEE Systems Journal.

[35]  Zhi-Hong Guan,et al.  Leader–follower flocking based on distributed event‐triggered hybrid control , 2016 .

[36]  Hyo-Sung Ahn,et al.  Formation Coordination for the Propagation of a Group of Mobile Agents via Self-Mobile Localization , 2015, IEEE Systems Journal.

[37]  Lihua Xie,et al.  Robust consensus tracking for a class of high-order multi-agent systems , 2014, CCC 2014.

[38]  Gang Feng,et al.  Cooperative Output Regulation of Linear Multi-Agent Systems by Intermittent Communication: A Unified Framework of Time- and Event-Triggering Strategies , 2018, IEEE Transactions on Automatic Control.

[39]  Shuanghe Yu,et al.  Comments on ‘Finite-time consensus of multi-agent system via non-linear event-triggered control strategy’ , 2017 .

[40]  Xin-Ping Guan,et al.  Decentralized event-triggered control for interconnected time-delay stochastic nonlinear systems using neural networks , 2018, Neurocomputing.

[41]  Muhammad Rehan,et al.  Distributed Consensus Control of One-Sided Lipschitz Nonlinear Multiagent Systems , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[42]  Wei Xing Zheng,et al.  Consensus tracking in heterogeneous nonlinear multi-agent networks with asynchronous sampled-data communication , 2016, Syst. Control. Lett..

[43]  Mohammadreza Doostmohammadian,et al.  Finite-time consensus in directed switching network topologies and time-delayed communications , 2011 .

[44]  Christos G. Cassandras,et al.  Distributed Coverage Control and Data Collection With Mobile Sensor Networks , 2010, IEEE Transactions on Automatic Control.