Skip to main content
SpringerLink
Log in

Fully Distributed Dynamic Event-Triggered Semiglobal Consensus of Multi-agent Uncertain Systems with Input Saturation via Low-gain Feedback

  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper investigates the event-triggered consensus problem of multi-agent systems with uncertainties and input saturation. First, a fully distributed robust consensus low-gain feedback control strategy is proposed, in which some global information, such as the communication graph and the scale of network, is not needed. Then, by defining an internal dynamic variable to memory the past state, an adaptive dynamic event-triggering mechanism is proposed, which contributes to reducing the usage of communication resources and also does not rely on any global information. Furthermore, Lyapunov-based consensus analysis results are presented, and it is also formally shown that Zeno behavior can be excluded with the proposed consensus protocols. Finally, a numerical example is provided to illustrate the effectiveness of the proposed results.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Z. Tang and C. Li, “Distributed event-triggered containment control for discrete-time multi-agent systems,” International Journal of Control, Automation and Systems, vol. 16, no. 6, pp. 2727–2732, October 2018.

    Article  Google Scholar 

  2. X. Liu, C. Du, H. Liu, and P. Lu, “Distributed event-triggered consensus control with fully continuous communication free for general linear multi-agent systems under directed graph,” International Journal of Robust and Nonlinear Control, vol. 28, no. 13, pp. 132–143, June 2017.

    MathSciNet  MATH  Google Scholar 

  3. A. Zhang, D. Zhou, P. Yang, and M. Yang, “Event-triggered finite-time consensus with fully continuous communication free for second-order multi-agent systems,” International Journal of Control, Automation and Systems, vol. 17, pp. 836–846, March 2019.

    Article  Google Scholar 

  4. S. Islam and N. I. Xiros, “Robust asymptotic and finite-time tracking for second-order nonlinear multi-agent autonomous systems,” International Journal of Control, Automation and Systems, vol. 17, no. 3, pp. 3069–3078, December 2019.

    Article  Google Scholar 

  5. W. Liu and J. Huang, “Adaptive leader-following consensus for a class of higher-order nonlinear multi-agent systems with directed switching networks,” Automatica, vol. 79, pp. 84–92, January 2016.

    Article  MathSciNet  Google Scholar 

  6. H. Li, Y. Zhu, L. Jing, and Y. Wang, “Consensus of second-order delayed nonlinear multi-agent systems via node-based distributed adaptive completely intermittent protocols,” Applied Mathematics and Computation, vol. 326, pp. 1–15, June 2018.

    Article  MathSciNet  Google Scholar 

  7. X. Xie and X. Mu, “Observer-based intermittent consensus control of nonlinear singular multi-agent systems,” International Journal of Control, Automation and Systems, vol. 17, no. 7, pp. 2321–2330, July 2019.

    Article  Google Scholar 

  8. D. Zhang and G. Feng, “A new switched system approach to leader-follower consensus of heterogeneous linear multiagent systems with DoS attack,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2019. DOI: https://doi.org/10.1109/TSMC.2019.2895097

  9. D. Zhang, Z. Xu, G. Feng, and H. Li, “Asynchronous resilient output consensus of switched heterogeneous linear multivehicle systems with communication delay,” IEEE/ASME Transactions on Mechatronics, vol. 24, no. 6, pp. 2627–2640, December 2019.

    Article  Google Scholar 

  10. W. P. M. H. Heemels, J. H. Sandee, and P. P. J. van den Bosch, “Analysis of event-driven controllers for linear systems,” International Journal of Control, vol. 81, no. 4, pp. 571–590, April 2008.

    Article  MathSciNet  Google Scholar 

  11. D. V. Dimarogonas, E. Frazzoli, and K. H. Johansson, “Distributed event triggered control for multi-agent systems,” IEEE Transactions on Automatic Control, vol. 57, no. 5, pp. 1291–1297, May 2012.

    Article  MathSciNet  Google Scholar 

  12. W. Zhu, Z. Jiang, and F. Gang, “Event-based consensus of multi-agent systems with general linear models,” Automatica, vol. 50, no. 2, pp. 552–558, February 2014.

    Article  MathSciNet  Google Scholar 

  13. W. Zhu and Z. P. Jiang, “Event-based leader-following consensus of multi-agent systems with input time delay,” IEEE Transactions on Automatic Control, vol. 60, no. 5, pp. 1362–1367, May 2015.

    Article  MathSciNet  Google Scholar 

  14. W. Hu, L. Liu, and G. Feng, “Consensus of linear multi-agent systems by distributed event-triggered strategy,” IEEE Transactions on Cybernetics, vol. 46, no. 1, pp. 148–157, January 2016.

    Article  Google Scholar 

  15. D. Yang, W. Ren, X. Liu, and W. Chen, “Decentralized event-triggered consensus for linear multi-agent systems under general directed graphs,” Automatica, vol. 69, pp. 242–249, July 2016.

    Article  MathSciNet  Google Scholar 

  16. S. Yu, H. Jiang, Z. Yu, and C. Hu, “Consensus of multiagent stsyems with feedforward nonlinear dynamics and digraph,” International Journal of Control, Automation and Systems, vol. 16, no. 4, pp. 1512–1520, July 2018.

    Article  Google Scholar 

  17. Y. Liu, J. H. Park, B. Guo, F. Fang, and F. Zhou, “Event-triggered dissipative synchronization for Markovian jump neural networks with general transition probabilities,” International Journal of Robust and Nonlinear Control, vol. 28, pp. 3893–3908, 2018.

    Article  MathSciNet  Google Scholar 

  18. X. Wang, H. Su, X. Wang, and G. Chen, “Fully distributed event-triggered semiglobal consensus of multi-agent systems with input saturation,” IEEE Transactions on Industrial Electronics, vol. 64, no. 6, pp. 5055–5064, June 2017.

    Article  Google Scholar 

  19. B. Cheng and Z. Li, “Fully distributed event-triggered protocols for linear multiagent networks,” IEEE Transactions on Automatic Control, vol. 64, no. 4, pp. 1655–1662, April 2019.

    Article  MathSciNet  Google Scholar 

  20. W. Hu, C. Yang, T. Huang, and W. Gui, “A distributed dynamic event-triggered control approach to consensus of linear multiagent systems with directed networks,” IEEE Transactions on Cybernetics, vol. 50, no. 2, pp. 869–874, February 2018.

    Article  Google Scholar 

  21. B. Cheng and Z. Li, “Output consensus of heterogeneous linear multi-agent systems via fully distributed event-triggered protocols,” Proc. of IECON 2017 — 43rd Annual Conference of the IEEE Industrial Electronics Society, pp. 5581–5586, December 2017.

  22. H. Su, Y. Ye, Y. Qiu, Y. Cao, and M. Z. Q. Chen, “Semiglobal output consensus for discrete-time switching networked systems subject to input saturation and external disturbances,” IEEE Transactions on Cybernetics, vol. 49, no. 11, pp. 3934–3945, November 2019.

    Article  Google Scholar 

  23. B. Wang, W. Chen, and B. Zhang, “Semi-global robust tracking consensus for multi-agent uncertain systems with input saturation via metamorphic low-gain feedback,” Automatica, vol. 103, pp. 363–373, May 2019.

    Article  MathSciNet  Google Scholar 

  24. H. Su, M. Z. Q. Chen, J. Lam, and Z. Lin, “Semi-global leader-following consensus of linear multi-agent systems with input saturation via low gain feedback,” IEEE Transactions on Circuits and Systems I: Regular Papers, vol. 60, no. 7, pp. 1881–1889, March 2013.

    Article  MathSciNet  Google Scholar 

  25. H. Su, M. Z. Q. Chen, X. Wang, and J. Lam, “Semiglobal observer-based leader-following consensus with input saturation,” IEEE Transactions on Industrial Electronics, vol. 61, no. 6, pp. 2842–2850, June 2014.

    Article  Google Scholar 

  26. H. Zhou, Y. Yang, and H. Su, “Semi-global leader-following consensus of discrete-time linear multi-agent systems subject to actuator position and rate saturation,” International Journal of Robust and Nonlinear Control, vol. 27, no. 16, pp. 2921–2936, November 2017.

    Article  MathSciNet  Google Scholar 

  27. H. Su, G. Jia, and M. Z. Q. Chen, “Semi-global containment control of multi-agent systems with input saturation,” IET Control Theory and Applications, vol. 8, no. 18, pp. 2229–2237, December 2014.

    Article  MathSciNet  Google Scholar 

  28. B. Wang, W. Chen, J. Wang, B. Zhang, Z. Zhang, and X. Qiu, “Accurate cooperative control for multiple leaders multiagent uncertain systems: A two-layer node-to-node communication framework,” IEEE Transactions on Industrial Informatics, vol. 14, no. 6, pp. 2395–2405, June 2018.

    Article  Google Scholar 

  29. B. Wang, J. Wang, B. Zhang, W. Chen, and Z. Zhang, “Leader-follower consensus of multivehicle wirelessly networked uncertain systems subject to nonlinear dynamics and actuator fault,” IEEE Transactions on Automation Science and Engineering, vol. 15, no. 2, pp. 492–505, January 2018.

    Article  Google Scholar 

  30. Y. Liu, J. H. Park, and F. Fang, “Global exponential stability of delayed neural networks based on a new integral inequality,” IEEE Transactions on Systems Man and Cybernetics Systems, vol. 49, no. 11, pp. 2318–2325, March 2019.

    Article  Google Scholar 

  31. Y. Chen, H. Dong, J. Lü, X. Sun, and K. Liu, “Robust consensus of nonlinear multiagent systems with switching topology and bounded noises,” IEEE Transactions on Cybernetics, vol. 46, no. 6, pp. 1276–1285, July 2016.

    Article  Google Scholar 

  32. X. Lu, Y. Wang, X. Yu, and J. Lai, “Finite-time control for robust tracking consensus in MASs with an uncertain leader,” IEEE Transactions on Cybernetics, vol. 47, no. 5, pp. 1210–1223, March 2017.

    Article  Google Scholar 

  33. Y. Wang, L. Xie, and C. E. de Souza, “Robust control of a class of uncertain nonlinear systems,” Systems and Control Letters, vol. 19, no. 2, pp. 139–149, August 1992.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Guanglei Zhao & Zhao Wang

  2. College of Information and Control Engineering, Jilin Institute of Chemical Technology, 132022, Jilin, China

    Xiuwei Fu

Authors
  1. Guanglei Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Xiuwei Fu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Xiuwei Fu.

Additional information

Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Yajuan Liu under the direction of Editor Fuchun Sun. This work was supported by National Defense Research Program (JCKY2019407D001), Key R & D Program of Hebei Province (20311803D), Natural Science Foundation of Hebei Province (F2020203016), National Natural Science Foundation of China (62073277, 61825304).

Guanglei Zhao received his Ph.D. degree in electrical engineering from Shanghai Jiaotong University, China, in 2015. He is currently an Associate Professor with the Institute of Electrical Engineering, Yanshan University, Qinhuangdao, China. From 2012 to 2013, he was a visiting scholar in The University of Melbourne. His research interests include networked control systems, hybrid systems and robust control.

Zhao Wang received his B.S. degree from the Anhui University of Science and Technology, Huainan, China, in 2018. He is currently pursuing an M.S. degree with the Yanshan University. His research interests include multi-agent systems, event-triggered control, adaptive control, and output regulation.

Xiuwei Fu received his Ph.D. degree in electrical engineering from Guilin University of Electronic Technology, China, in 2010. He is currently an Lecturer with the College of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin, China. His research interests include networked control systems, embedded systems and motor control.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhao, G., Wang, Z. & Fu, X. Fully Distributed Dynamic Event-Triggered Semiglobal Consensus of Multi-agent Uncertain Systems with Input Saturation via Low-gain Feedback. Int. J. Control Autom. Syst. 19, 1451–1460 (2021). https://doi.org/10.1007/s12555-019-1080-7

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-019-1080-7

Keywords

Search

Navigation