Finite-Time Consensus of Networked Multiagent Systems with Time-Varying Linear Control Protocols

Finite-time consensus problems for networked multiagent systems with first-order/second-order dynamics are investigated in this paper. The goal of this paper is to design local information based control protocols such that the systems achieve consensus at any preset time. In order to realize this objective, a class of linear feedback control protocols with time-varying gains is introduced. We prove that the multiagent systems under such kinds of time-varying control protocols can achieve consensus at the preset time if the undirected communication graph is connected. Numerical simulations are presented to illustrate the effectiveness of the obtained theoretic results

Optimal Time-Invariant Distributed Formation Tracking for Second-Order Multi-Agent Systems

This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to multi-agent formation tracking do not consider energy issues while investigating distributed feedback control laws. In order to account for this crucial design aspect, we contribute by formalizing and proposing a solution to an optimization problem that encapsulates trajectory tracking, distance-based formation control, and input energy minimization, through a specific and key choice of potential functions in the optimization cost. To this end, we show how to compute the inverse dynamics in a centralized fashion by means of the Projector-Operator-based Newton's method for Trajectory Optimization (PRONTO) and, more importantly, we exploit such an offline solution as a general reference to devise a novel online distributed control law. Finally, numerical examples involving a cubic formation following a straight path in the 3D space are provided to validate the proposed control strategies.Comment: 28 pages, 2 figures, submitted to the European Journal of Control on June 23rd, 2023 (version 1

Stability of a class of multi-agent tracking systems with unstable subsystems

In this work, we pre-deploy a large number of smart agents to monitor an area of interest. This area could be divided into many Voronoi cells by using the knowledge of Voronoi diagram and every Voronoi site agent is responsible for monitoring and tracking the target in its cell. Then, a cooperative relay tracking strategy is proposed such that during the tracking process, when a target enters a new Voronoi cell, this event triggers the switching of both tracking agents and communication topology. This is significantly different from the traditional switching topologies. In addition, during the tracking process, the topology and tracking agents switch, which may lead the tracking system to be stable or unstable. The system switches either among consecutive stable subsystems and consecutive unstable subsystems or between stable and unstable subsystems. The objective of this paper is to design a tracking strategy guaranteeing overall successful tracking despite the existence of unstable subsystems. We also address extended discussions on the case where the dynamics of agents are subject to disturbances and the disturbance attenuation level is achieved. Finally, the proposed tracking strategy is verified by a set of simulations

Distributed cooperative control for economic operation of multiple plug‐in electric vehicle parking decks

Peer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/138231/1/etep2348.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/138231/2/etep2348_am.pd