Yuanqiang Zhou, Dewei Li, Furong Gao
This paper presents an online adaptive learning solution to optimal synchronization control problem of heterogeneous multi-agent systems via a novel distributed policy iteration approach.
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This paper deals with data-driven output synchronization for heterogeneous leader-follower linear multi-agent systems. Given a multi-agent system that consists of one autonomous leader and a number of heterogeneous followers with external disturbances, we provide necessary and sufficient data-based conditions for output synchronization. We also provide a design method for obtaining such output synchronizing protocols directly from data. The results are then extended to the special case that the followers are disturbance-free. Finally, a simulation example is provided to illustrate our results.
This paper deals with the H2 suboptimal output synchronization problem for heterogeneous linear multi-agent systems. Given a multi-agent system with possibly distinct agents and an associated H2 cost functional, the aim is to design output feedback based protocols that guarantee the associated cost to be smaller than a given upper bound while the controlled network achieves output synchronization. A design method is provided to compute such protocols. For each agent, the computation of its two local control gains involves two Riccati inequalities, each of dimension equal to the state space dim…
The Hegselmann-Krause (HK) model is a wellknown opinion dynamics, attracting a significant amount of interest from a number of fields. However, the heterogeneous HK model is difficult to analyze - even the most basic property of convergence is still open to prove. For the first time, this paper takes into consideration heterogeneous HK models with environment or communication noise. Under environment noise, it has been revealed that the heterogeneous HK model with or without global information has a phase transition for the upper limit of the maximum opinion difference, and has a critical nois…
Simple synchronization protocols for heterogeneous networks: beyond passivity (extended version)
本文研究了非被动但满足弱输入前馈被动性条件的异构代理同步问题，提出了一种简单线性协议实现同步，适用于强连通交互图和弱耦合情况。
Synchronization of Multi-Agent Systems With Heterogeneous Controllers
本文研究多智能体系统同步问题，通过异构控制器增益控制最终同步速度方向，并分析其可达集影响，提出限制增益上限以实现稳定同步。
Stability Conditions for Cluster Synchronization in Networks of Heterogeneous Kuramoto Oscillators
本文研究了具有异质Kuramoto动力学的振子网络中的簇同步现象，推导了网络权重、簇配置和振子固有频率的量化条件，以确保簇同步流形的渐近稳定性。
The Small-Talk Effect in Practical Synchronization of Heterogeneous Oscillating Dynamics
本文针对异构Lienard振荡器系统，提出一种结合全局更新与子网络内更频繁局部交互的多时间尺度通信方案，在给定同步误差界限下，将全局和局部更新速率作为设计参数，数值示例验证了局部交互的益处。
This paper studies synchronization of homogeneous and heterogeneous discrete-time multi-agent systems. A class of linear dynamic protocol design methodology is developed based on localized information exchange with neighbors which does not need any knowledge of the directed network topology and the spectrum of the associated Laplacian matrix. The main contribution of this paper is that the proposed protocols are scale-free and achieve synchronization for arbitrary number of agents.
This paper addresses the output synchronization problem for heterogeneous nonlinear multi-agent systems with distributed event-based controllers. Employing the two-step synchronization process, we first outline the distributed event-triggered consensus controllers for linear reference models under a directed communication topology. It is further shown that the subsequent triggering instants are based on intermittent communication. Secondly, by using certain input-to-state stability (ISS) property, we design an event-triggered perturbed output regulation controller for each nonlinear multi-agen…
Weak synchronization in heterogeneous multi-agent systems
本文提出异构多智能体系统的“弱同步”框架，在无通信网络连通性等信息时通过使网络交换信号收敛至零实现网络稳定性，并设计了无需网络假设的同步协议。
This paper studies scale-free protocol design for H_\infty almost output and regulated output synchronization of heterogeneous multi-agent systems with linear, right-invertible, and introspective agents in presence of external disturbances. The collaborative linear protocol designs are based on localized information exchange over the same communication network, which do not require any knowledge of the directed network topology and spectrum of the associated Laplacian matrix. Moreover, the proposed scale-free protocols achieve H_\infty almost synchronization with a given arbitrary degree of ac…
Global Attitude Synchronization for Heterogeneous Multi-agent Systems on SO(3)
本文研究SO(3)上异构多智能体系统的姿态同步问题，提出一种几乎全局连续方案及两种全局混合方案，其中无速度方案仅依赖姿态信息即可实现全局渐近同步，仿真验证了其有效性。
In this paper, we consider scalable output and regulated output synchronization problems for heterogeneous networks of right-invertible linear agents based on localized information exchange where in the case of regulated output synchronization, the reference trajectory is generated by a so-called exosystem. We assume that all the agents are introspective, meaning that they have access to their own local measurements. We propose a scale-free linear protocol for each agent to achieve output and regulated output synchronizations. These protocols are designed solely based on agent models and they …
This paper proposes a novel method to achieve and preserve synchronization for a set of connected heterogeneous Van der Pol oscillators. Unlike the state-of-the-art synchronization methods, in which a large coupling gain is applied to couple any pair of connected oscillators, the proposed method first casts the whole synchronization process into two phases. The first one considers the period from the beginning to the first instant of synchronization, while the second phase covers the following time in which synchronization must be preserved. It is shown that a large coupling gain is adopted fo…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters that can be involved in the analysis of a network. In this paper, we present the design and simulation of adaptive control for a platoon with heterogeneous vehicles, taking into account that not all vehicles can communicate their control input, and in turn include structured nonlinear uncertainty input parameters.
This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized information exchange. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. Universal linear protocols are proposed for each agent to achieve output synchronizations. Proposed protocols are designed solely based on the agent models using no information about communication graph and the number of agents or o…
Adaptive synchronization protocols for heterogeneous multi-agent network are investigated. The interaction between each of the agents is carried out through a directed graph. We highlight the lack of communication between agents and the presence of uncertainties in each system among the conventional problems that can arise in cooperative networks. Two methodologies are presented to deal with the uncertainties: A strategy based on robust optimal control and a strategy based on neural networks. Likewise, an input estimation methodology is designed to face the disconnection that any agent may pre…
In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, non-uniform and arbitrarily large communication delays. A delay transformation is utilized to transform the original MAS to a new system without delayed states. The proposed scale-free dynamic protocols are developed solely based on agent models and localized information exchange with neighbors such that we do not need any information about the communication networks and the number of agents.
In this paper, we introduce a nonlinear time-varying coupling law, which can be designed in a fully decentralized manner and achieves approximate synchronization with arbitrary precision, under only mild assumptions on the individual vector fields and the underlying (undirected) graph structure. The proposed coupling law is motivated by the so-called funnel control method studied in adaptive control under the observation that arbitrary precision synchronization can be achieved for heterogeneous multi-agent systems by a high-gain coupling; consequently we call our novel synchronization method `…
Distributed Synchronization of Heterogeneous Oscillators on Networks with Arbitrary Topology
本文研究了利用分布式控制实现异构非线性耦合振荡器网络的相位和频率同步问题，控制器在任意频率异质性下保证零稳态相位误差，并且对振荡器非线性和网络拓扑知悉有限，同时提供了无噪声和传播延迟下的全局收敛性分析。
Robust synchronization and policy adaptation for networked heterogeneous agents
本文针对输入饱和且存在不确定性的非线性异构智能体网络，提出DMSAC-RL方法，通过增广输入在线调整强化学习策略，实现领导者-跟随者鲁棒同步，并证明同步误差最终一致有界。
Data-driven Polytopic Output Synchronization of Heterogeneous Multi-agent Systems from Noisy Data
针对未知异构MAS在含噪数据下的输出同步问题，提出基于多胞表示与受约束拟合误差最小化的分布式数据驱动控制方法，并以数据依赖半定规划给出稳定增益。
Optimal Stationary Synchronization of Heterogeneous Linear Multi-Agent Systems
本文研究了异构线性网络的输出同步问题，提出了一种允许非零稳态同步误差的最优平稳同步方法，从而放宽了标准要求，使无法精确同步的智能体也能参与网络，并通过同步可接受的误差范围节省输入能量。
Secure Synchronization of Heterogeneous Pulse-Coupled Oscillators
针对存在恶意节点的异构脉冲耦合振荡器同步问题，提出两种基于MSR算法的弹性同步协议，通过检测并忽略可疑脉冲更新相位与频率，实现了安全同步并揭示了初始条件与通信负担间的权衡。
Cooperative Estimation for Synchronization of Heterogeneous Multi-Agent Systems Using Relative Information
本文提出一种分布式估计方法，通过局部智能体从邻居处获取相对测量来估计状态，旨在提高现有算法的可扩展性，并保证对模型和测量扰动的鲁棒性。
Synchronization is a crucial phenomenon in many natural and artificial complex network systems. Applications include neuronal networks, formation control and coordination in robotics, and frequency synchronization in electrical power grids. In this paper, we propose the use of a distributed discontinuous coupling protocol to achieve convergence and synchronization in networks of non-identical nonlinear dynamical systems. We show that the synchronous dynamics is a solution to the average of the nodes' vector fields, and derive analytical estimates of the critical coupling gains required to achi…
Data-Based System Representation and Synchronization for Multiagent Systems
本文针对连续时间多智能体系统，提出基于数据的同步方法，在同构情形下利用线性矩阵不等式镇定同步误差动态，在异构情形下通过无需模型知识的动态控制器实现同步，并用数值仿真验证了有效性。
Data-Driven Distributed Output Synchronization of Heterogeneous Discrete-Time Multi-Agent Systems
本文针对异构离散时间多智能体系统，提出数据驱动的分布式输出同步控制律，通过状态反馈和观测器实现输出同步，并给出解存在的充要条件。
Hybrid coupling rules for leaderless heterogeneous oscillators: uniform global asymptotic and finite-time synchronization
针对分布式异构振荡器同步问题，提出仅依赖局部信息的混合耦合规则，实现一致全局渐近及有限时间同步，开发新型数学工具完成稳定性分析，并通过电网模型仿真验证有效性。
Attitude Synchronization on SO(3) for Heterogeneous Multi-Agent Systems Using Vector Measurements
本文研究了异构多智能体系统在SO(3)上的分布式姿态同步问题，提出四种基于局部向量测量的同步方案，无需姿态估计和交换，实现对公共未知方向的同步，以及通过指定领导者对齐恒定方向。
Diversity and Interaction Quality of a Heterogeneous Multi-Agent System Applied to a Synchronization Problem
本文基于矩阵相位理论量化异构非线性多智能体的多样性与交互质量，给出输出同步可解条件及低增益控制器设计方法，并在不可解时以聚类和少量控制器库实现同步。
In this paper, the synchronization of heterogeneous agents interacting over a dynamical network is studied. The edge dynamics can model the inter-agent communications which are often heterogeneous by nature. They can also model the controllers of the agents which may be different for each agent or uniform for all the agents. Novel synchronization conditions are obtained for both cases from a phase perspective by exploiting a recently developed small phase theorem. The conditions scale well with the network and reveal the trade-off between the phases of node dynamics and edge dynamics. We also …
Edge-wise funnel output synchronization of heterogeneous agents with relative degree one
本文针对异构多智能体系统提出边级漏斗输出同步方法，通过边级设计避免节点级漏斗控制破坏混合动力学的问题，实现无需全局信息的完全分散式设计和即插即用操作。
Design of MIMO Lur'e oscillators via dominant system theory with application in multi-agent rhythm synchronization
本文提出基于主导系统理论和分离原理的多输入多输出Lur'e振荡器动态输出反馈设计框架，并将其应用于多智能体系统，实现异构线性智能体网络的锁相节律同步。
A Leader-Follower Approach for The Attitude Synchronization of Multiple Rigid Body Systems on $SO(3)$
本文提出了一种在 $SO(3) $ 上实现多个异构刚体系统领导者-跟随者姿态同步的分布式控制策略，具有近全局渐近稳定性，并通过仿真验证了其有效性。
A group behavior of a heterogeneous multi-agent system is studied which obeys an "average of individual vector fields" under strong couplings among the agents. Under stability of the averaged dynamics (not asking stability of individual agents), the behavior of heterogeneous multi-agent system can be estimated by the solution to the averaged dynamics. A following idea is to "design" individual agent's dynamics such that the averaged dynamics performs the desired task. A few applications are discussed including estimation of the number of agents in a network, distributed least-squares or median…
Linear Quadratic Synchronization of Multi-Agent Systems: A Distributed Optimization Approach
本文提出了一种分布式优化方法，用于解决多智能体系统在无向通信拓扑下的线性二次最优同步问题，通过引入辅助同步状态变量和ADMM算法，将同步优化问题分解为独立子问题并加以求解。
We respond briefly to a comment [1, arXiv:2110.15493] recently posted online on our paper [2, arXiv:2108.07893]. Complete and cluster synchronization of random networks is undoubtedly a topic of interest in the Physics, Engineering, and Nonlinear Dynamics literature. In [3] we study both complete and cluster synchronization of networks and introduce indices that measure success (or failure) of application of the SBD technique in decoupling the stability problem into problems of lower dimensionality. Our usage of the word `failure' indicates that the technique does not produce a decomposition w…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully distributed observer for a class of nonlinear leader systems, which can simultaneously learn the leader's dynamics and states. This class of leader dynamics is rather general and does not require a bounded Jacobian matrix. Based on this learning-based distributed observer, we further synthesize an adaptive distributed control law for solving the leader-following…
Heterogeneous multi-robot sensing systems are able to characterize physical processes more comprehensively than homogeneous systems. Access to multiple modalities of sensory data allow such systems to fuse information between complementary sources and learn richer representations of a phenomenon of interest. Often, these data are correlated but vary in fidelity, i.e., accuracy (bias) and precision (noise). Low-fidelity data may be more plentiful, while high-fidelity data may be more trustworthy. In this paper, we address the problem of multi-robot online estimation and coverage control by comb…
Adaptation of Parameters in Heterogeneous Multi-agent Systems
针对异构多智能体系统无法完美同步的问题，提出复用状态同步耦合信号的参数自适应律，在持续激励下可实现动力学渐近同构与状态精确一致性。
A Dynamic Heterogeneous Team-based Non-iterative Approach for Online Pick-up and Just-In-Time Delivery Problems
本文提出一种基于动态异构团队的非迭代方法，通过改进DREAM框架求解在线取货与准时送达的时空多任务分配问题，在保证任务可行性的同时实现最优资源利用，并经仿真与硬件实验验证其可扩展性。
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