Tracking Control for Stochastic Multi‐Agent Systems Based on Hybrid Event‐Triggered Mechanism

Abstract

This paper deals with the leader‐following consensus for nonlinear stochastic multi‐agent systems. To save communication resources, a new centralized/distributed hybrid event‐triggered mechanism (HETM) is proposed for nonlinear multi‐agent systems. HETMs can be regarded as a synthesis of continuous event‐triggered mechanism and time‐driven mechanism, which can effectively avoid Zeno behavior. To model the multi‐agent systems under centralized HETM, the switched system method is applied. By utilizing the property of communication topology, low‐dimensional consensus conditions are obtained. For the distributed hybrid event‐triggered mechanism, due to the asynchronous event‐triggered instants, the time‐varying system method is applied. Meanwhile, the effect of network‐induced time‐delay on the consensus is also considered. To further reduce the computational resources by constantly testing whether the broadcast condition has been violated, self‐triggered implementations of the proposed event‐triggered communication protocols are also derived. A numerical example is given to show the effectiveness of the proposed method.

Stochastic sliding mode control of active vehicle suspension with mismatched uncertainty and multiplicative perturbations

“…Consider the Itô stochastic system (7) with assumption 1, and sliding surface described by (8) with G = B T where satisfies the LMI described in (15). Then, it can be shown that the mean-square reachability of the sliding surface (8) is assured by SMC law (20) and condition (21):…”

“…There are plenty of studies trying to tackle with stabilizing and control of Itô models through designing an idiosyncratic control strategy. See, for instance [16,17], for stability results, and [18][19][20] for some recent control strategy.…”

Coordinating multiple mobile robots for obstacle avoidance using cloud computing

“…Although it is possible to avoid unexpected obstacles using a specific obstacle avoidance scheme, the robot may not consider the behavior of other robots while avoiding obstacles. In order to allow robots to consider the behavior of other robots instantly and continuously, it is desirable to allow robots to communicate, cooperate, and navigate in the environment for the multiple robot coordination [15‐19]. The coordinating framework of obstacle avoidance and navigation control demands urgent attention for multi‐robot applications.…”

Robust H∞ control for a class of quasi‐linear uncertain stochastic time‐varying delayed systems

“…Before the year 2000, H ∞ control for both linear and nonlinear deterministic systems has been extensively studied [3]. In recent years, due to a great many of system models being expressed by Itô-type stochastic differential equations [4][5][6][7][8], stochastic H ∞ control of Itô-type differential systems has become a popular research topic and attracted a great deal of attention; see the monographs [9][10][11][12] and the references [13][14][15][16][17][18]. It should be mentioned that, except for the study of standard stochastic Itô systems, singular stochastic Itô systems and switching stochastic systems have also been studied in the directions of stochastic stability, stabilization, H 2 optimal control and H ∞ control; see [19][20][21][22][23][24][25][26].…”