Synchronization of multiple rigid body systems: a survey

The multi-agent system has been a hot topic in the past few decades owing to its lower cost, higher robustness, and higher flexibility. As a particular multi-agent system, the multiple rigid body system received a growing interest since its wide applications in transportation, aerospace, and ocean exploration. Due to the non-Euclidean configuration space of attitudes and the inherent nonlinearity of the dynamics of rigid body systems, synchronization of multiple rigid body systems is quite challenging. This paper aims to present an overview of the recent progress in synchronization of multiple rigid body systems from the view of two fundamental problems. The first problem focuses on attitude synchronization, while the second one focuses on cooperative motion control in that rotation and translation dynamics are coupled. Finally, a summary and future directions are given in the conclusion

Consensus analysis of multi-agent systems under switching topologies by a topology-dependent average dwell time approach

© The Institution of Engineering and Technology 2016. This study addresses the consensus problem for a class of any order multi-agent systems under switching topologies which could include kinds of unconsensusable topologies. The consensus problem, depending on structure properties and the corresponding topology, is researched with fixed structure properties under directed switching topologies. By the properties of Laplacian matrix, the consensus problem for multi-agent systems is converted into the stability problem of the corresponding switched systems with a Laplacian-like matrix. Some sufficient conditions for consensus are presented by using the dwell time approach. Finally, numerical examples and the results of computer simulation are given to verify the theoretical analysis

Distributed Event-triggered Bipartite Consensus for Multi-agent Systems Against Injection Attacks

This paper studies fully distributed data-driven problems for nonlinear discrete-time multi-agent systems (MASs) with fixed and switching topologies preventing injection attacks. We first develop an enhanced compact form dynamic linearization model by applying the designed distributed bipartite combined measurement error function of the MASs. Then, a fully distributed event-triggered bipartite consensus (DETBC) framework is designed, where the dynamics information of MASs is no longer needed. Meanwhile, the restriction of the topology of the proposed DETBC method is further relieved. To prevent the MASs from injection attacks, neural network-based detection and compensation schemes are developed. Rigorous convergence proof is presented that the bipartite consensus error is ultimately boundedness. Finally, the effectiveness of the designed method is verified through simulations and experiment

Prescribed-time cluster practical consensus for nonlinear multi-agent systems based on event-triggered mechanism

This paper investigates the prescribed-time event-triggered cluster practical consensus problem for a class of nonlinear multi-agent systems with external disturbances. To begin, to reach the prescribed-time cluster practical consensus, a new time-varying function is introduced and a novel distributed continuous algorithm is designed. Based on the Lyapunov stability theory and inequality techniques, some sufficient conditions are given, ensuring the prescribed-time cluster practical consensus. Moreover, to avoid different clusters' final states overlapping, a virtual leader is considered for each cluster. In this case, an event-triggered distributed protocol is further established and some related conditions are given for achieving prescribed-time cluster practical consensus. Additionally, it is proven that the Zeno behavior can be avioded by choosing parameters appropriately. Finally, some numerical examples are presented to show the effectiveness of the theoretical results

A Survey of Resilient Coordination for Cyber-Physical Systems Against Malicious Attacks

Cyber-physical systems (CPSs) facilitate the integration of physical entities and cyber infrastructures through the utilization of pervasive computational resources and communication units, leading to improved efficiency, automation, and practical viability in both academia and industry. Due to its openness and distributed characteristics, a critical issue prevalent in CPSs is to guarantee resilience in presence of malicious attacks. This paper conducts a comprehensive survey of recent advances on resilient coordination for CPSs. Different from existing survey papers, we focus on the node injection attack and propose a novel taxonomy according to the multi-layered framework of CPS. Furthermore, miscellaneous resilient coordination problems are discussed in this survey. Specifically, some preliminaries and the fundamental problem settings are given at the beginning. Subsequently, based on a multi-layered framework of CPSs, promising results of resilient consensus are classified and reviewed from three perspectives: physical structure, communication mechanism, and network topology. Next, two typical application scenarios, i.e., multi-robot systems and smart grids are exemplified to extend resilient consensus to other coordination tasks. Particularly, we examine resilient containment and resilient distributed optimization problems, both of which demonstrate the applicability of resilient coordination approaches. Finally, potential avenues are highlighted for future research.Comment: 35 pages, 7 figures, 5 table

Event-triggered consensus of multi-agent systems under directed topology based on periodic sampled-data

The event-triggered consensus problem of first-order multi-agent systems under directed topology is investigated. The event judgements are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling period is permitted to be arbitrarily large. Another advantage of the designed consensus algorithm is that, for systems with time delay, consensus can be achieved for any finite delay only if it is bounded by the sampling period. The case of strongly connected topology is first investigated. Then, the result is extended to the most general topology which only needs to contain a spanning tree. A novel method based on positive series is introduced to analyze the convergence of the closed-loop systems. A numerical example is provided to illustrate the effectiveness of the obtained theoretical results

Event-triggered joint connectivity topology containment control for unmanned surface ship systems under time delay

For the containment control problem of unmanned surface ship systems (USSs) with time delay and limited communication bandwidth, this paper proposes a distributed event-triggered control strategy using a joint connection switching topology. The communication of unmanned surface ship systems inevitably has delay and the topology is time-varying. Firstly, a joint connectivity switching topology model and the state control method of USSs with delay are designed. Secondly, an event-triggered control mechanism is established, and a new trigger condition of USSs communication is designed. In case of time delay, the USS updates its information and sends it to its neighboring USSs under time delay, minimizes communication consumption and saves energy, and rapidly converges to the steady state. Based on the Lyapunov method, the stability of the system is analyzed, and the Zeno behavior when event-triggered is excluded. It is proved that under the designed control strategy, if the communication topology is jointly connected in a certain time, the follower USS can converge to the convex hull formed by multiple leader USS within a certain delay range. Finally, the correctness and validity of the conclusions are verified by simulation