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Privacy-preserving average consensus for multi-agent systems based on edge decomposition 认领 引用
1
作者 Zengwang JIN Qian LI +2 位作者 Biyun SHENG Changyin SUN Zhen WANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第5期451-465,共15页
This paper studies the problem of privacy preservation in achieving the average consensus of dynamic Multi-Agent Systems(MAS).Average consensus performs an essential role in dynamic MAS to promote collaboration,coordi... This paper studies the problem of privacy preservation in achieving the average consensus of dynamic Multi-Agent Systems(MAS).Average consensus performs an essential role in dynamic MAS to promote collaboration,coordinate decision-making,resolve conflicts,and enhance system reliability.The process of achieving average consensus requires the information exchange between agents,which raises concerns about sensitive data leakage.To address this issue,we propose a novel algorithm that combines state decomposition with edge characteristics in network topology to protect the critical data during the average consensus process.Specifically,the original state of each agent is decomposed into|Ni|+1 substates,where|Ni|represents the number of neighboring nodes.For each agent,the public substate performs the function of the original state to participate in computation and interaction between other agents,while the private parts only interact with the first one of the same agent and keep invisible to other agents.Unlike other approaches that focus solely on the privacy preservation of agents'initial state information,this paper extends to dynamic state of agents at every moment.Next,rigorous proofs of the accuracy in average consensus are provided.Furthermore,it is shown that privacy can be protected by employing our algorithm if agent i has at least one neighbor who is not an honest-but-curious agent.As for external eavesdroppers,a sufficient condition is presented that the state information is not estimated with any guaranteed accuracy.Finally,numerical simulations are presented to verify the effectiveness of our approach. 展开更多
关键词 Multi-agent systems Privacy-preserving mechanism Average consensus Network topology Edge decomposition
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Adaptive distributed optimization of high-order nonlinear multi-agent systems with predefined accuracy under state observer 认领 引用
2
作者 Xiao-Wen Zhao Tong Shu +2 位作者 Deng-Hao Pang Tao Li Mei Yao 《Chinese Physics B》 SCIE EI CAS CSCD 2026年第3期236-247,共12页
This paper discusses adaptive distributed optimization with predefined accuracy for high-order nonlinear multi-agent systems(MASs)that are subject to disturbances and nonlinear uncertainties.To estimate the global opt... This paper discusses adaptive distributed optimization with predefined accuracy for high-order nonlinear multi-agent systems(MASs)that are subject to disturbances and nonlinear uncertainties.To estimate the global optimal solution in realtime,a distributed proportional-integral optimization technique is used to generate a virtual system for each agent.For the unknown control gain of the controller,the Nussbaum function is employed.Then,a fuzzy adaptive observer is designed to estimate the unmeasured state by leveraging the general approximation capabilities of fuzzy logic systems.Using the Lyapunov stability method and backstepping technique,we develop the adaptive law and a new distributed controller.This ensures that the outputs of multi-agent systems converge to optimal values.Finally,a simulation example is used to confirm the viability of the presented control mechanism. 展开更多
关键词 distributed optimization nonlinear multi-agent systems(MASs) fuzzy state observer predefined accuracy control
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Adaptive optimal consensus over networked multi-agent systems:a digital signal-driven hybrid iteration approach 认领 引用
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作者 Jun Li Jiansong Lu +1 位作者 Lianghao Ji Huaqing Li 《Digital Communications and Networks》 SCIE EI CSCD 2026年第5期825-835,共11页
The integration of Digital Signal Processing(DSP)and Reinforcement Learning(RL)for optimal consensus control in Networked Multi-Agent Systems(NMASs)has garnered significant research attention.However,prior research en... The integration of Digital Signal Processing(DSP)and Reinforcement Learning(RL)for optimal consensus control in Networked Multi-Agent Systems(NMASs)has garnered significant research attention.However,prior research encounters some limitations:1)dependency on initial admissible control policies,and 2)systemic data redundancy arising from ineffective data governance in distributed architectures and slow convergence rates of conventional RL algorithms.To overcome these challenges,this paper proposes a Distributed Collaborative Iteration Adaptive Dynamic Programming(DCIADP)framework.The methodology reformulates the solution of Hamilton-Jacobi-Bellman(HJB)equations by integrating Value Iteration(VI)and Policy Iteration(PI)within a unified architecture,eliminating reliance on prior knowledge of system dynamics.Specifically,a dynamic factor is introduced to synergistically integrate the complementary strengths of VI and PI,achieving accelerated convergence while bypassing the initialization requirement for admissible policies.This innovation significantly mitigates computational overhead in distributed nodes during localized DSP operations.Furthermore,a self-tuning mechanism dynamically optimizes the factor,enhancing adaptability to heterogeneous network conditions.Through rigorous theoretical analysis,the proposed framework is proven to ensure asymptotic convergence and Lyapunov stability.Practical implementation is realized through actor-critic Neural Networks(NNs),incorporating an experience replay mechanism to exploit temporal correlation characteristics in networked data streams.This enables derivation of optimal control policies solely from transmitted network signals,independent of explicit system parameter knowledge.The framework thus establishes a resource-eicient adaptive control paradigm for bandwidth-constrained networked MASs.Finally,several numerical simulations validate the effectiveness and superiority of the proposed approach. 展开更多
关键词 Off-policy Optimal control Multi-agent systems Reinforcement learning Digital signal processing
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Finite-time fault-tolerant tracking control for multi-agent systems based on neural observer 认领 引用 被引量：1
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作者 Junzhe Cheng Shitong Zhang +1 位作者 Qing Wang Bin Xin 《Control Theory and Technology》 EI CSCD 2026年第1期10-23,共14页
This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external di... This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external disturbances.Under the directed topology conditions,an observer-based finite-time control strategy based on adaptive backstepping and is proposed,in which a neural network-based state observer is employed to approximate the unmeasurable system state variables.To address the complexity explosion problem associated with the backstepping method,a finite-time command filter is incorporated,with error compensation signals designed to mitigate the filter-induced errors.Additionally,the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller.The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion,validating that all closed-loop signals of the system remain bounded within a finite time.Finally,the effectiveness of the proposed control strategy is verified through a simulation example. 展开更多
关键词 Multi-agent systems Command filtered backstepping Finite-time control Neural observer Non-affine faults
Distributed unsupervised meta-learning algorithm over multi-agent systems 认领 引用
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作者 Zhenzhen Wang Bing He +3 位作者 Zixin Jiang Xianyang Zhang Haidi Dong Di Ye 《Digital Communications and Networks》 SCIE EI CSCD 2026年第1期134-142,共9页
Multi-Agent Systems(MAS),which consist of multiple interacting agents,are crucial in Cyber-Physical Systems(CPS),because they improve system adaptability,efficiency,and robustness through parallel processing and colla... Multi-Agent Systems(MAS),which consist of multiple interacting agents,are crucial in Cyber-Physical Systems(CPS),because they improve system adaptability,efficiency,and robustness through parallel processing and collaboration.However,most existing unsupervised meta-learning methods are centralized and not suitable for multi-agent systems where data are distributed stored and inaccessible to all agents.Meta-GMVAE,based on Variational Autoencoder(VAE)and set-level variational inference,represents a sophisticated unsupervised meta-learning model that improves generative performance by efficiently learning data representations across various tasks,increasing adaptability and reducing sample requirements.Inspired by these advancements,we propose a novel Distributed Unsupervised Meta-Learning(DUML)framework based on Meta-GMVAE and a fusion strategy.Furthermore,we present a DUML algorithm based on Gaussian Mixture Model(DUMLGMM),where the parameters of the Gaussian-mixture are solved by an Expectation-Maximization algorithm.Simulations on Omniglot and Mini Image Net datasets show that DUMLGMM can achieve the performance of the corresponding centralized algorithm and outperform non-cooperative algorithm. 展开更多
关键词 Unsupervised meta-learning Multi-agent systems Variational autoencoder Gaussian mixture model
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Fixed-Time Bipartite Formation of Multi-Agent Systems Using Dynamic Event-Triggered Scheme 认领 引用
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作者 Longquan Ma Huarong Zhao +2 位作者 Liqin Zhou Linbo Xie Hongnian Yu 《Computers, Materials & Continua》 SCIE EI 2026年第6期1447-1462,共16页
This paper studies a sampling-based dynamic event-triggered fixed-time bipartite formation algorithm for a class of continuous-time multi-agent systems with communication constraints.First,a periodic sampling mechanis... This paper studies a sampling-based dynamic event-triggered fixed-time bipartite formation algorithm for a class of continuous-time multi-agent systems with communication constraints.First,a periodic sampling mechanism is designed to reduce the system’s communication frequency.Then,a dynamic event-triggered control algorithm based on auxiliary variables is developed for sampled-data systems to further reduce the system’s triggering frequency.Next,to enhance the convergence speed of the dynamic event-triggered control method,a dynamic event-triggered fixed-time bipartite formation control scheme is investigated.Finally,using Lyapunov stability theory,signed graph theory,and relevant inequalities,a rigorous theoretical proof of the stability of the proposed control protocol is provided,and the algorithm’s effectiveness is verified through simulation experiments. 展开更多
关键词 Sampled-data dynamic event-triggered fixed-time bipartite formation multi-agent systems
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Leader-following positive consensus of heterogeneous switched multi-agent systems with average dwell time switching 认领 引用
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作者 Kaiming Li Wei Xing +1 位作者 Haoyue Yang Junfeng Zhang 《Control Theory and Technology》 EI CSCD 2026年第1期66-81,共16页
This paper focuses on the leader-following positive consensus problems of heterogeneous switched multi-agent systems.First,a state-feedback controller with dynamic compensation is introduced to achieve positive consen... This paper focuses on the leader-following positive consensus problems of heterogeneous switched multi-agent systems.First,a state-feedback controller with dynamic compensation is introduced to achieve positive consensus under average dwell time switching.Then sufficient conditions are derived to guarantee the positive consensus.The gain matrices of the control protocol are described using a matrix decomposition approach and the corresponding computational complexity is reduced by resorting to linear programming and co-positive Lyapunov functions.Finally,two numerical examples are provided to illustrate the results obtained. 展开更多
关键词 Heterogeneous switched multi-agent systems Positive consensus Linear programming
CRS-DQN: Non-Cooperative Dynamic Target Pursuit for Multi-Agent Systems with Communication Delay and Range Constraints 认领 引用
8
作者 Xin Yu Xi Fang 《Computers, Materials & Continua》 SCIE EI 2026年第6期2151-2180,共30页
This paper addresses the challenging problem of multi-agent dynamic target pursuit under stringent communication constraints(including delays and range limits),where the agile targets are non-cooperative and free from... This paper addresses the challenging problem of multi-agent dynamic target pursuit under stringent communication constraints(including delays and range limits),where the agile targets are non-cooperative and free from such limitations.To tackle this,we propose CRS-DQN,a novel Deep Q-Network algorithm designed for this scenario.CRS-DQN enables agents to learn effective pursuit strategies through deep reinforcement learning despite partial observability and constrained information sharing.Simulation experiments systematically evaluate the impact of key parameters.The results show that pursuit performance degrades monotonically with increased communication delay.In contrast,the communication radius exhibits a non-linear effect:performance peaks when the radius is within a specific range(approximately 1/10 to 1/5 of the environment size)and declines if the radius is too small or too large.Furthermore,an optimal balance exists between the communication radius and the delay threshold.This work demonstrates the feasibility of learning-based pursuit under strict communication constraints and provides insights into parameter tuning for robust multi-agent systems in adversarial,communication-degraded environments. 展开更多
关键词 Multi-agent systems pursuit-evasion communication constraints DQN CRS-DQN non-cooperative targets
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Formability of nonlinear multi-agent systems with sampled-data communication 认领 引用
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作者 Quangui He Wei Liu 《Control Theory and Technology》 EI CSCD 2026年第3期317-326,共10页
This paper discusses the nonlinear formability problem and studies the semi-global sampled-data formation control problem for a class of nonlinear multi-agent systems.There is no any linear growth condition for nonlin... This paper discusses the nonlinear formability problem and studies the semi-global sampled-data formation control problem for a class of nonlinear multi-agent systems.There is no any linear growth condition for nonlinearity of the agents,which brings the challenges to the nonlinear analysis and synthesis.Based on the steady-state analysis for closed-loop system,the sufficient and necessary condition that guarantees the exact formability is proposed.Then,the formation condition under sampled-data mechanism is studied and given.Using the proposed formation condition,the formation control of nonlinear multi-agent systems is achieved by synthesizing a distributed sampled-data formation control law.In the end,the simulations are carried out to show the correctness of the proposed formation condition. 展开更多
关键词 Multi-agent systems Nonlinear control Sampled-data control Formability
Output feedback prescribed performance state synchronization for leader-following high-order uncertain nonlinear multi-agent systems 认领 引用
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作者 Ilias Katsoukis George A.Rovithakis 《Journal of Automation and Intelligence》 EI CSCD 2026年第1期35-45,共11页
This paper addresses the synchronization of follower agents’state vectors with that of a leader in high-order nonlinear multi-agent systems.The proposed low-complexity control scheme employs high-gain observers to es... This paper addresses the synchronization of follower agents’state vectors with that of a leader in high-order nonlinear multi-agent systems.The proposed low-complexity control scheme employs high-gain observers to estimate higher-order synchronization errors,enabling the controller to rely solely on relative output measurements.This approach significantly reduces the dependence on full-state information,which is often infeasible or costly in practical engineering applications.An output feedback control strategy is developed to overcome these limitations while ensuring robust and effective synchronization.Simulation results are provided to demonstrate the effectiveness of the proposed approach and validate the theoretical findings. 展开更多
关键词 Synchronization problem Leader-following High-order nonlinear systems Multi-agent systems High-gain observer
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Security consensus control for nonlinear stochastic multi-agent systems via reinforcement learning 认领 引用
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作者 Jinxuan Zhang Chang-E Ren 《Control Theory and Technology》 EI CSCD 2026年第3期327-345,共19页
This study presents a new observer-based security consensus method to address the control problem for nonlinear strict-feedback stochastic multi-agent systems(MASs)under actuator attacks.Different from most existing o... This study presents a new observer-based security consensus method to address the control problem for nonlinear strict-feedback stochastic multi-agent systems(MASs)under actuator attacks.Different from most existing optimal control methods which rely on the strong assumption of Nash equilibrium existence,here a novel adaptive distributed observer is proposed to remove the assumption.Furthermore,the security issue posed by actuator attacks is tackled by integrating integral sliding-mode(ISM)control into reinforcement learning(RL).The actual backstepping controller comprises an ISM attack compensator that mitigates the effects of these attacks,alongside an RL-based optimal controller that stabilizes the sliding-mode dynamics and achieves optimal performance.Finally,theoretical analysis and practical simulations are performed to validate the effectiveness of the proposed algorithm. 展开更多
关键词 Consensus control Multi-agent systems Optimal control
Leader–follower consensus of nonlinear multi-agent systems under DoS attack based on edge-event triggered mechanisms 认领 引用
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作者 Mingkuan Wang Genbao Zhao +1 位作者 Dongsheng Yang Juan Zhang 《Journal of Automation and Intelligence》 EI CSCD 2026年第2期139-146,共8页
Consider that nonlinear terms for multi-agent systems(MASs)exist and information transmission among agents is interrupted by denial-of-service(DoS)attacks,the paper focuses on the leader–follower consensus of nonline... Consider that nonlinear terms for multi-agent systems(MASs)exist and information transmission among agents is interrupted by denial-of-service(DoS)attacks,the paper focuses on the leader–follower consensus of nonlinear MASs under DoS attacks based on edge-event triggered mechanisms(EETMs).Firstly,in order to minimize the transmission of unnecessary information between any two neighboring agents in MASs,new EETMs are designed for all communication edges.Secondly,a fully distributed consensus protocol under the triggered mechanisms is designed to avoid any global information.At the meantime,due to DoS attacks,the communication network is unreliable.New EETMs consensus protocol can overcome the influence of DoS attacks.Additionally,the new strategy is exclusion of the Zeno behavior.Ultimately,simulation example will demonstrate the theoretical results. 展开更多
关键词 Edge-event triggered mechanisms Nonlinear multi-agent systems Fully distributed control DoS attacks
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Quality or Quantity?Error-Informed Selective Online Learning With Gaussian Processes in Multi-Agent Systems 认领 引用 被引量：1
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作者 Zewen Yang Xiaobing Dai +2 位作者 Jiajun Cheng Yulong Huang Peng Shi 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第6期1325-1338,共14页
Effective cooperation is pivotal in distributed learning for multi-agent systems,where the interplay between the quantity and quality of the machine learning models is crucial.This paper reveals the irrationality of i... Effective cooperation is pivotal in distributed learning for multi-agent systems,where the interplay between the quantity and quality of the machine learning models is crucial.This paper reveals the irrationality of indiscriminate inclusion of all models on agents for joint prediction,highlighting the imperative to prioritize quality over quantity in cooperative learning.Specifically,we present the first selective online learning framework for distributed Gaussian process(GP)regression,namely distributed error-informed GP(EIGP),that enables each agent to assess its neighboring collaborators,using the proposed selection function to choose the higher quality GP models with less prediction errors.Moreover,algorithmic enhancements are embedded within the EIGP,including a greedy algorithm(gEIGP)for accelerating prediction and an adaptive algorithm(aEIGP)for improving prediction accuracy.In addition,approaches for fast prediction and model update are introduced in conjunction with the error-informed quantification term iteration and a data deletion strategy to achieve real-time learning operations.Numerical simulations are performed to demonstrate the effectiveness of the developed methodology,showcasing its superiority over the stateof-the-art distributed GP methods with different benchmarks. 展开更多
关键词 Adaptive algorithm cooperative learning distributed learning Gaussian process regression greedy algorithm multi-agent system
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Bounded Control Gain Based Prescribed-Time Consensus of General Linear Multi-Agent Systems With Controllable Agent Dynamics 认领 引用
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作者 Hongpeng Li Xinchun Jia +1 位作者 Xiaobo Chi Yanpeng Guan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第4期903-912,共10页
In this paper,the bounded control gain based prescribed-time(Pre-T)consensus problem for general linear multiagent systems(MASs)with controllable agent dynamics is addressed.First,an observer with Pre-T performance is... In this paper,the bounded control gain based prescribed-time(Pre-T)consensus problem for general linear multiagent systems(MASs)with controllable agent dynamics is addressed.First,an observer with Pre-T performance is designed for each agent to estimate the leader's state within a prescribed time.Then,based on the estimated states,a Pre-T switching controller integrating a bounded control gain is developed by employing a special coordinate transformation in combination with the backstepping technique,under the assumption that the agents'system matrix pair is controllable.It is shown that the proposed controller enables general linear MASs to achieve the Pre-T consensus independently of the agents'initial conditions and control parameters.Notably,the controller eliminates the numerical implementation problem associated with unbounded control gains,without compromising the consensus performance.The proposed approach is further applied to high-order singleinput MASs to demonstrate its broader applicability.Finally,a simulation example validates the effectiveness of both the proposed observer and the Pre-T switching controller. 展开更多
关键词 Bounded control gain multi-agent systems (MASs) prescribed-time (Pre-T) consensus switching controller
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Fixed-Time Zeroing Neural Dynamics for Adaptive Coordination of Multi-Agent Systems 认领 引用
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作者 Cheng Hua Xinwei Cao +1 位作者 Jianfeng Li Shuai Li 《CAAI Transactions on Intelligence Technology》 SCIE EI CSCD 2026年第1期267-278,共12页
This paper presents an adaptive multi-agent coordination(AMAC)strategy suitable for complex scenarios,which only requires information exchange between neighbouring robots.Unlike traditional multi-agent coordination me... This paper presents an adaptive multi-agent coordination(AMAC)strategy suitable for complex scenarios,which only requires information exchange between neighbouring robots.Unlike traditional multi-agent coordination methods that are solved by neural dynamics,the proposed strategy displays greater flexibility,adaptability and scalability.Furthermore,the proposed AMAC strategy is reconstructed as a time-varying complex-valued matrix equation.By introducing a dynamic error function,a fixed-time convergent zeroing neural network(FTCZNN)model is designed for the online solution of the AMAC strategy,with its convergence time upper bound derived theoretically.Finally,the effectiveness and applicability of the coordination control method are demonstrated by numerical simulations and physical experiments.Numerical results indicate that this method can reduce the formation error to the order of 10-6within 1.8 s. 展开更多
关键词 fixed-time convergence multi-agent coordination robotics zeroing neural dynamics
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Formation Control of Multi-Agent Systems With Position Constraints on a Closed Curve 认领 引用
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作者 Cheng Song Yongqin He +1 位作者 Jianbin Qiu Shengyuan Xu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第4期1004-1006,共3页
Dear Editor,This letter deals with the formation control problem of a multiagent system that moves along a closed curve and is subject to position constraints.A distributed formation control law is developed under whi... Dear Editor,This letter deals with the formation control problem of a multiagent system that moves along a closed curve and is subject to position constraints.A distributed formation control law is developed under which the position constraint of each agent can always be satisfied.Due to the existence of position constraints,prescribed formations generally cannot be achieved by the agents. 展开更多
关键词 position constraint multi agent systems distributed formation control law closed curve formation control multiagent system
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Distributed control and decision-making algorithms for open multi-agent systems:a brief overview 认领 引用
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作者 Guanghui WEN Meng LUAN +1 位作者 Xiao FANG Xiaodong LI 《ENGINEERING Information Technology & Electronic Engineering》 SCIE EI CSCD 2026年第6期5-19,共15页
Open multi-agent systems(OMASs),characterized by the dynamic joining and leaving of agents,possess distinct attributes such as agent-level autonomy,time-varying network topologies,and environmental openness.These char... Open multi-agent systems(OMASs),characterized by the dynamic joining and leaving of agents,possess distinct attributes such as agent-level autonomy,time-varying network topologies,and environmental openness.These characteristics make them highly applicable to dynamic scenarios like robotic swarms,smart grids,and vehicular networks.However,such dynamism introduces core challenges in maintaining system stability,achieving efficient collaboration,and guaranteeing decision robustness.This paper presents a brief overview of recent advances in distributed control and decision-making algorithms for OMASs.First,the fundamental concepts and control strategies of OMASs are systematically reviewed.Second,distributed decision-making mechanisms encompassing distributed consensus optimization,separable resource allocation,and Nash equilibrium(NE)seeking in non-cooperative games are discussed,highlighting key technologies and typical methods.Finally,an outlook on future perspectives in the field is presented. 展开更多
关键词 Open multi-agent system Time-varying topology Distributed control Distributed optimization Nash equilibrium seeking
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Multi-Agent Systems:From Classical Paradigms to Large Foundation Model-Enabled Futures 认领 引用
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作者 Zixiang Wang Mengjia Gong +5 位作者 Qiyu Sun Jing Xu Shuai Mao Xin Jin Qing-Long Han Yang Tang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第5期1007-1023,共17页
With the rapid advancement of artificial intelligence,multi-agent systems(MASs)are evolving from classical paradigms toward architectures built upon large foundation models(LFMs).This survey provides a systematic revi... With the rapid advancement of artificial intelligence,multi-agent systems(MASs)are evolving from classical paradigms toward architectures built upon large foundation models(LFMs).This survey provides a systematic review and comparative analysis of classical MASs(CMASs)and LFM-based MASs(LMASs).First,within a closed-loop coordination framework,CMASs are reviewed across four fundamental dimensions:perception,communication,decision-making,and control.Beyond this framework,LMASs integrate LFMs to lift collaboration from low-level state exchanges to semantic-level reasoning,enabling more flexible coordination and improved adaptability across diverse scenarios.Then,a comparative analysis is conducted to contrast CMASs and LMASs across architecture,operating mechanism,adaptability,and application.Finally,future perspectives on MASs are presented,summarizing open challenges and potential research opportunities. 展开更多
关键词 Agentic artificial intelligence(Al) large foundation model multi-agent system
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Prescribed-Time Formation Control for Multi-Agent Systems With Uncertain Nonlinear Dynamics and Non-Vanishing Random Disturbances 认领 引用
19
作者 Jie Su Yongduan Song 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第3期586-596,共11页
This paper investigates the problem of prescribedtime formation control for multi-agent systems with directed communication topology,uncertain nonlinear dynamics,and nonvanishing random disturbances.To drive the forma... This paper investigates the problem of prescribedtime formation control for multi-agent systems with directed communication topology,uncertain nonlinear dynamics,and nonvanishing random disturbances.To drive the formation error to zero within a prescribed time,a novel prescribed-time control lemma is developed.A distributed observer is designed to allow each follower to accurately estimate the leader's states within the prescribed time.Building on this,an observer-based prescribedtime formation control algorithm is proposed.The algorithm ensures that a disordered group of autonomous agents achieves the desired formation with zero error within the prescribed time,despite the presence of uncertain nonlinear dynamics and nonvanishing random disturbances.The prescribed time is arbitrarily predetermined a priori and independent of the agents'initial configurations and any other control parameters.Mathematically,the stability of the proposed control scheme is rigorously proven,where all observer and closed-loop system signals are bounded.Numerical simulations confirm the effectiveness of the proposed formation scheme. 展开更多
关键词 Directed communication topology multi-agent system formation non-vanishing random disturbances prescribed-time control uncertain nonlinear dynamics
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Time-Varying Formation for Second-Order Open Multi-Agent Systems With External Disturbances 认领 引用
20
作者 Min Gong Yuanqing Xia Yuezu Lv 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第6期1524-1526,共3页
Dear Editor,This letter addresses the formation problem of open multi-agent systems in the presence of disturbances.An extended state observer is developed for each agent to estimate the disturbance,and a consensus co... Dear Editor,This letter addresses the formation problem of open multi-agent systems in the presence of disturbances.An extended state observer is developed for each agent to estimate the disturbance,and a consensus control protocol incorporating disturbance compensation is proposed.By analyzing the dynamics of the formation error during switching time instants,sufficient conditions on dwell time are derived to ensure uniformly ultimate boundedness of the formation error.The effectiveness of the proposed controller is demonstrated through both theoretical analysis and numerical simulations. 展开更多
关键词 second order open multi agent systems extended state observer time varying formation formation problem consensus control protocol disturbance compensation external disturbances formation error
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