Observer-Based Event-Triggered Formation Control of Multi-Agent Systems With Switching Directed Topologies

Zhu, Guangpu; Liu, Kexin; Gu, Haibo; Luo, Weilin; Lü, Jinhu

doi:10.1109/tcsi.2021.3134816

Cited by 43 publications

(5 citation statements)

References 36 publications

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“…Refer to Ref. [21], for case 3), a lower bound is existed. In summary, a positive lower bound is existed.…”

Section: Event-triggered Formation Controlmentioning

confidence: 99%

“…The eventtriggered control and the switching topology mentioned above also play the important role in the field of formation control [19][20]. In [21], the observer based event-triggered formation control of MASs subject to switching topologies is discussed. In [22], with distributed event-triggered control strategy, the adaptive control of linear MASs are presented.…”

Section: Introductionmentioning

confidence: 99%

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Event Triggered Formation Adaptive Control of Singular Fractional Order Multi-Agent Systems with Switching Topologies And Nonlinear Dynamics

Wang,

Xue,

Pan

2023

Preprint

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In this paper, the formation control of singular fractional order multi-agent systems with α ∈ (0,1] is investigated. Firstly, under the switching direct communication topologies, the observer based adaptive controllers are designed. Then, by event-triggered scheme and Lyapunov direct method, the formation control algorithm is presented to achieve bounded of the formation error systems. Moreover, according to the event-triggered schemes, the Zeno behaviors are avoided by giving the lower bound. Finally, the validity of the result given is illustrated by a numerical example.

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“…Refer to Ref. [21], for case 3), a lower bound is existed. In summary, a positive lower bound is existed.…”

Section: Event-triggered Formation Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event Triggered Formation Adaptive Control of Singular Fractional Order Multi-Agent Systems with Switching Topologies And Nonlinear Dynamics

Wang,

Xue,

Pan

2023

Preprint

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“…Reference 17 studied a nonlinear observer for the formation flight of satellite under actuator faults. The scenario with switching topology has also been investigated in References 12,19,20. Under the directed jointly connected switching topologies, an adaptive distributed observer was constructed in References 12, which could estimate the state and system matrix of an autonomous linear leader system, and it was then utilized to design a distributed control law for second-order nonlinear multi-agent systems. In References 19, a sliding mode control was designed to accommodate the time-varying delays and solved the time-varying formation of multispacecrafts under switching network, while in References 20, event-triggered observer-based controllers were proposed to deal with the formation control of homogeneous linear systems.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive output observer for a nonautonomous leader system over periodic switching topologies and its applications to the formation control of offshore vessels

Zhou

Dong

2023

Intl J Robust & Nonlinear

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This paper proposes an adaptive observer for an active leader and designed a distributed observer‐based control law for the formation control of networked uncertain offshore vessels under the switching topologies. The design of the observer, only depending on the output of the leader system, is featured with the ability of accurately estimating the output of the leader system with an unknown input over the time‐varying communication network, satisfying the periodic switching condition. Then based on the output‐based observer, the formation problem of multiple offshore vessels is converted into the stabilization problem of a multi‐input multi‐output augmented system by further combining the internal model technique and performing a coordinate and input transformation. The original problem is finally solved through constructing a stabilizer for the time‐varying uncertain augmented system, and the efficiency of our design is validated by the formation control of a group of offshore vessels.

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“…The results are then developed in [17] for the leader-following problem but only apply to second-order linear MASs. In the literature [18], an observer-based ETM is proposed to deal with formation control problems under switching and directed topology. A more generic approach is proposed in [19], which uses linear matrix inequalities (LMIs) to synthesize the controller and observer, but the solution is not distributed.…”

Section: Introductionmentioning

confidence: 99%

Distributed Observer-Based Dynamic Event-Triggered Control of Multi-Agent Systems with Adjustable Inter-Event Time

Wang,

Chadli

2023

2023 62nd IEEE Conference on Decision and Control (CDC)

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This paper proposes a dynamic event-triggered control strategy for the leader-following multi-agent control under directed topology. A synthesis approach combining distributed controllers and observers design is developed under a dynamic sampling scheme, and only local information is required for each agent to implement the proposed method.The control protocol incorporates model-based estimation and clock-like auxiliary dynamic variables to prolong the interevent time as long as possible. Sufficient conditions for leaderfollowing consensus control are established by linear matrix inequalities, and an explicit inter-event time is given to enable flexible tuning. Due to the carefully selected Lyapunov function, the proposed method exhibits significant advantages over the dynamic event-triggered control methods described in the existing literature. Compared to the existing static eventtriggered strategy, the proposed approach significantly reduces the utilization of communication resources while preserving asymptotic convergence to the state consensus. The validity and effectiveness of the proposed theoretical results are demonstrated by comparative simulations.

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Observer-Based Event-Triggered Formation Control of Multi-Agent Systems With Switching Directed Topologies

Cited by 43 publications

References 36 publications

Event Triggered Formation Adaptive Control of Singular Fractional Order Multi-Agent Systems with Switching Topologies And Nonlinear Dynamics

Event Triggered Formation Adaptive Control of Singular Fractional Order Multi-Agent Systems with Switching Topologies And Nonlinear Dynamics

Adaptive output observer for a nonautonomous leader system over periodic switching topologies and its applications to the formation control of offshore vessels

Distributed Observer-Based Dynamic Event-Triggered Control of Multi-Agent Systems with Adjustable Inter-Event Time

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