Dario Bauso, Laura Giarré, Raffaele Pesenti
We consider stationary consensus protocols for networks of dynamic agents with switching topologies. The measure of the neighbors' state is affected by Unknown But Bounded disturbances. Here the main contribution is the formulation and solution of what we call the $ε$-consensus problem, where the states are required to converge in a tube of ray $ε$ asymptotically or in finite time.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
继续探索
We are concerned with input-to-state stability (ISS) of randomly switched systems. We provide preliminary results dealing with sufficient conditions for stochastic versions of ISS for randomly switched systems without control inputs, and with the aid of universal formulae we design controllers for ISS-disturbance attenuation when control inputs are present. Two types of switching signals are considered: the first is characterized by a statistically slow-switching condition, and the second by a class of semi-Markov processes.
Stability and disturbance attenuation for a switched Markov jump linear system
研究时间非齐次且未知转移概率的马尔可夫跳跃线性系统，提出统一随机稳定性和扰动抑制的充分必要条件，以线性矩阵不等式形式高效求解。
We study second order consensus dynamics with random additive disturbances. We investigate three different performance measures: the steady-state variance of pairwise differences between vertex states, the steady-state variance of the deviation of each vertex state from the average, and the total steady-state variance of the system. We show that these performance measures are closely related to the biharmonic distance; the square of the biharmonic distance plays similar role in the system performance as resistance distances plays in the performance of first-order noisy consensus dynamics. We f…
We consider a linear consensus system with n agents that can switch between r different connectivity patterns. A natural question is which switching law yields the best (or worst) possible speed of convergence to consensus? We formulate this question in a rigorous manner by relaxing the switched system into a bilinear consensus control system, with the control playing the role of the switching law. A best (or worst) possible switching law then corresponds to an optimal control. We derive a necessary condition for optimality, stated in the form of a maximum principle (MP). Our approach, combine…
This paper considers the consensus performance improvement problem of networked general linear agents subject to external disturbances over Markovian randomly switching communication topologies. The consensus control laws can only use its local output information. Firstly, a class of full-order observer-based control protocols is proposed to solve this problem, which depends solely on the relative outputs of neighbours. Then, to eliminate the redundancy involved in the full-order observer, a class of reduced-order observer-based control protocols is designed. Algorithms to construct both proto…
Optimal Rejection of Bounded Perturbations in Linear Leader-Following Consensus Protocol: Method Invariant Ellipsoid
本文将不变椭球方法扩展到领导-跟随一致性问题，在有界扰动下给出最优控制参数的充要条件，使跟随者状态收敛并保持在领导者状态周围的最小不变椭球内。
In this paper, the practical output consensus problem for heterogeneous high-order leader-follower multi-agent systems under directed communication topology containing a directed spanning tree and subject to large-scale mismatched disturbances, mismatched uncertainties, and measurement noises is addressed. By introducing a reversible state transformation without changing the output, the actual total disturbance affecting output performance of each agent and matched with the control input of the transformed system is extracted and estimated by extended state observers. Then, the control protoco…
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed protocols are to be designed to guarantee an output consensus for these high-order agents and meanwhile minimize the aggregate cost as the sum of these local costs. To overcome the difficulties brought by high-order dynamics and external disturbances, we develop an embedded design and constructively present a distributed rule to solve this problem. The proposed con…
This paper focuses on the consensus and formation problems of multiagent systems under unknown persistent disturbances. Specifically, we propose a novel method that combines an existing consensus (or formation) algorithm with a new controller. The new controller has an integral action that produces a control input based on an error signal locally projected onto the column space of the graph Laplacian. This action allows agents to achieve a consensus or a predetermined formation objective under constant or time-varying disturbances. This study has analyzed the stability properties of this archi…
Finite-time and fixed-time consensus control of multi-agent systems driven by parabolic partial differential equations
本文针对抛物型偏微分方程驱动的多智能体系统，首次开展有限时间与固定时间一致性控制研究，基于Lyapunov定理设计并简化控制器，通过算例验证了控制器在有无外部扰动场景下的可行性。
This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential pract…
A robust consensus + innovations-based distributed parameter estimator
针对扰动下分布式参数估计缺乏鲁棒整定方法的问题，论文重构连续时间共识+创新估计器误差动态，并基于 Lyapunov 函数与线性矩阵不等式给出保证 L2 增益上界的增益整定工具。
Generalized String-Stability Criteria for Consensus Protocols
本文提出统一的字符串稳定性框架，研究领头-跟随多智能体系统在r前驱有向通信拓扑下的字符串稳定性，揭示通信丰富度r是决定扰动放大或衰减的关键因素，且协议阶数m仅影响中频暂态行为。
Leaderless Consensus of Heterogeneous Multiple Euler-Lagrange Systems with Unknown Disturbance
本文提出一种无领导者一致性控制方法，用于异质多Euler-Lagrange系统在存在未知扰动下的群体模型学习与轨迹一致性问题。
This paper examines the $\mathcal{H}_\infty$ performance problem of the edge agreement protocol for networks of agents operating on independent time scales, connected by weighted edges, and corrupted by exogenous disturbances. $\mathcal{H}_\infty$-norm expressions and bounds are computed that are then used to derive new insights on network performance in terms of the effect of time scales and edge weights on disturbance rejection. We use our bounds to formulate a convex optimization problem for time scale and edge weight selection. Numerical examples are given to illustrate the applicability o…
Distributed Nash Equilibrium Seeking for a Class of Uncertain Nonlinear Systems subject to Bounded Disturbances
针对联合强连通切换网络下受有界扰动影响的不确定非线性系统N人博弈，提出融合共识算法、分布式估计器与自适应控制的分布式纳什均衡求解方法，可处理界未知扰动，其特例可解决高阶积分器系统的该类问题。
Hybrid Control of ADT Switched Linear Systems subject to Actuator Saturation
本文提出了一种针对具有执行器饱和的ADT切换线性系统的混合输出反馈控制方法，通过死区表示处理饱和非线性，并结合模式依赖的动态输出反馈控制器与监督重置机制，确保系统在ADT切换下的指数稳定性与扰动衰减性能。
Exact Average Consensus under Noisy Communication Links: A Decentralized Gradient Perspective
针对持续链路扰动下标准随机逼近迭代无法精确平均的问题，本文提出基于去中心化梯度的锚定机制，证明其几乎必然收敛到精确初始平均值，并给出统一框架与设计原则。
This paper investigates a new method for consensus in a group of nonlinear complex multi-agent systems using fixed-order non-fragile dynamic output feedback controller, via an LMI approach. The proposed scheme is decentralized in the sense that each agent relies on the relative output information among the adjacent agents. The consensus based controllers are designed to minimize the effects of nonlinear terms of the agents as well as external disturbances. Converting consensus problem to stabilization of an equivalent augmented system using proper transformations, Lyapunov stability theorem is…
We consider performance deterioration of interconnected linear dynamical networks subject to exogenous stochastic disturbances. The focus of this paper is on first-order and second-order linear consensus networks. We employ the expected value of the steady state dispersion of the state of the entire network as a performance measure and develop a graph-theoretic methodology to relate structural specifications of the underlying graphs of the network to the performance measure. We explicitly quantify several inherent fundamental limits on the best achievable levels of performance in linear consen…
This note considers the constrained H-infinity consensus of multi-agent networks with nonidentical constraint sets. An improved distributed algorithm is adopted and a nonlinear controlled output function is defined to evaluate the effect of disturbances. Then, it is shown that the constrained H-infinity consensus can be achieved if some linear matrix inequality has positive solution.
Global $H_\infty$ Consensus of Multi-Agent Systems with Lipschitz Nonlinear Dynamics
针对具有Lipschitz非线性和有向通信图的多智能体系统，提出基于相邻智能体相对状态的分布式一致性协议，通过两步算法实现无扰动下的全局一致性，并进一步设计协议保证外部扰动下的$H_\infty$性能。
In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external disturbances. We first extend the recent result on the adaptive distributed observer from global asymptotical convergence to global exponential convergence. Then, by integrating the conventional adaptive control technique with the adaptive distributed observer, we present our solution by a distributed adaptive state feedback control law. Our result is illustr…
Strategic Topology Switching for Security-Part I: Consensus & Switching Times
本文研究了在特定类型的隐蔽攻击（零动力攻击）下，第二阶多智能体系统中通过战略拓扑切换实现一致性的方法，提出了一种基于切换时间的策略，使拓扑切换算法能够在无零动力攻击的情况下达到第二阶一致性，并通过数值模拟验证了理论结果。
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, a distributed continuous static consensus protocol based on the relative state information is first designed, under which the consensus error is uniformly ultimately bounded and exponential…
Motivated by current sharing in power networks, we consider a class of output consensus (also called agreement) problems for nonlinear systems, where the consensus value is determined by external disturbances, e.g., power demand. This output consensus problem is solved by a simple distributed output feedback controller if a system is either Krasovskii or shifted passive, which is the only essential requirement. The effectiveness of the proposed controller is shown in simulation on an islanded DC power network.
In this paper, we propose an optimization framework to design a network of positive linear systems whose structure switches according to a Markov process. The optimization framework herein proposed allows the network designer to optimize the coupling elements of a directed network, as well as the dynamics of the nodes in order to maximize the stabilization rate of the network and/or the disturbance rejection against an exogenous input. The cost of implementing a particular network is modeled using posynomial cost functions, which allow for a wide variety of modeling options. In this context, w…
A Control-Theoretic Approach for Resource-Aware Consensus in Multi-Agent AI
该研究针对LLM-MAS共识性能与计算资源关联保证不足的问题，提出将集体信念动态表征为离散时间切换系统的控制论方法，构建共识-预算证书区域，实现资源感知的多智能体协调。
Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using this approach. Using output error transformation, the constrained system is relaxed and mapped to an unconstrained one. The controller is conceived under the assumption that the agents' nonlinear dynamics are unknown and the perceived network is structured and strongly connected. Under the proposed controller, all agents track the trajectory of the leader no…
Efficient Algorithms for the Consensus Decision Problem
研究提出确定离散时间切换共识系统在任意切换序列下收敛的必要充分条件，以及至少存在一种切换序列使系统收敛的条件，证明其可在单指数时间内检查。同时证明当系统仅在两个无向子系统间切换时，第一个问题存在多项式时间算法。
We present a graph-theoretic approach to analyzing the robustness of leader-follower consensus dynamics to disturbances and time delays. Robustness to disturbances is captured via the system $\mathcal{H}_2$ and $\mathcal{H}_{\infty}$ norms and robustness to time delay is defined as the maximum allowable delay for the system to remain asymptotically stable. Our analysis is built on understanding certain spectral properties of the grounded Laplacian matrix that play a key role in such dynamics. Specifically, we give graph-theoretic bounds on the extreme eigenvalues of the grounded Laplacian matr…
This paper investigates the distributed optimal output consensus problem of second-order uncertain nonlinear multi-agent systems over weight-unbalanced directed networks. Under the standard assumption that local cost functions are strongly convex with globally Lipschitz gradients, a novel distributed dynamic state feedback controller is developed such that the outputs of all the agents reach the optimal solution to minimize the global cost function which is the sum of all the local cost functions. The controller design is based on a two-layer strategy, where a distributed optimal coordinator a…
Hierarchical parameter estimation for distributed networked systems: a dynamic consensus approach
本文提出一种两阶段分布式框架，用于全局估计网络系统中的常数参数，通过动态平均共识聚合代理测量，再利用局部估计器确定参数，设计合适共识增益以保证局部梯度估计器的指数收敛。
Inspired and underpinned by the idea of integral feedback, a distributed constant gain algorithm is proposed for multi-agent networks to solve convex optimization problems with local linear constraints. Assuming agent interactions are modeled by an undirected graph, the algorithm is capable of achieving the optimum solution with an exponential convergence rate. Furthermore, inherited from the beneficial integral feedback, the proposed algorithm has attractive requirements on communication bandwidth and good robustness against disturbance. Both analytical proof and numerical simulations are pro…
Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling, guidance, and learning control. To ensure safe learning of the vehicle dynamics on the fly, this paper presents an $\mathcal{L}_1$ adaptive control ($\mathcal{L}_1$AC) based scheme, which actively estimates and compensates for the discrepancy between the intermediately learned dynamics and the actual dynamics. First, to incorporate the periodic update of the learned model within the L2F framework, this paper extends …
In practical applications, decision-makers with heterogeneous dynamics may be engaged in the same decision-making process. This motivates us to study distributed Nash equilibrium seeking for games in which players are mixed-order (first- and second-order) integrators influenced by unknown dynamics and external disturbances in this paper. To solve this problem, we employ an adaptive neural network to manage unknown dynamics and disturbances, based on which a distributed Nash equilibrium seeking algorithm is developed by further adapting concepts from gradient-based optimization and multi-agent …
Submodular Optimization for Consensus Networks with Noise-Corrupted Leaders
研究在存在噪声干扰的共识网络中，通过子模优化选择领袖以最小化节点状态稳态方差，分析贪心算法的性能。
From Control to Opinion Dynamics: Signum Consensus Protocol on Arbitrary Weighted Directed Graphs
本研究针对任意加权有向图上的符号一致性协议，定义极化指数并推导闭式解，给出一致性充要条件与时间上界，提出低复杂度算法，并建立观点动力学模型揭示分歧与社区结构关联。
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the operating envelope, which is often required in aerospace applications. The analysis uses a switched reference system that assumes perfect knowledge of uncertainties and uses a corresponding non-adaptive controller. Provided that this switched reference system is stable, it is shown that the closed-loop system with unknown parameters and disturbances and the $\mathca…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed spanning tree, with the leader as the root. Prescribed-time consensus means that an agreement state of the MAS is achieved in a preset time, introduced as a parameter of the control law, and this constant settling time is achieved independently of the agents' initial state. The proposed control method exhibits three main advantages: first, to our best knowle…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first step, a distributed control law is designed for the nominal multi-agent system to achieve consensus with a prescribed H2 performance. In the second step, an extra control input, depending on some carefully chosen residual signals indicating the modeling mismatch, is designed to complement the H2 performance by providing robustness guarantee in terms of H_infty r…
Minimum-Rank Dynamic Output Consensus Design for Heterogeneous Nonlinear Multi-Agent Systems
本文提出了一种系统的设计框架，用于解决具有定向通信拓扑的异构多输入多输出非线性多智能体系统的一致性问题。通过输入输出反馈线性化方法，设计局部动态控制器以实现线性化子系统的相同闭环动力学，并通过数值示例验证了设计的有效性。
Gossip Algorithms for Convex Consensus Optimization over Networks
针对网络上无约束可分离凸共识优化问题，提出两种非梯度八卦算法（PE和PB），具有易于实现、避免次梯度算法局限、存在公共Lyapunov函数且渐近收敛等优点。
Dynamic NE Seeking for Multi-Integrator Networked Agents with Disturbance Rejection
本文研究了在外部扰动下多积分器网络代理博弈问题，提出了一种基于梯度博弈的纳什均衡寻求动力学，结合了动态内部模型组件以抑制扰动，通过局部通信实现部分信息下的共识子空间收敛。
The paper presents the gossip interactive Kalman filter (GIKF) for distributed Kalman filtering for networked systems and sensor networks, where inter-sensor communication and observations occur at the same time-scale. The communication among sensors is random; each sensor occasionally exchanges its filtering state information with a neighbor depending on the availability of the appropriate network link. We show that under a weak distributed detectability condition: 1. the GIKF error process remains stochastically bounded, irrespective of the instability properties of the random process dynami…
A Resistance Distance-Based Approach for Optimal Leader Selection in Noisy Consensus Networks
研究噪声共识网络中领导者位置对性能的影响，通过电阻距离与H2范数的关系推导出领导者位置的闭式表达式，并解决特殊图结构下的最优领导者选择问题。
We consider leader-follower multi-agent systems in which the leader executes the desired trajectory and the followers implement the consensus algorithm subject to stochastic disturbances. The performance of the leader-follower systems is quantified by using the steady-state variance of the deviation of the followers from the leader. We study the asymptotic scaling of the variance in directed lattices in one, two, and three dimensions. We show that in 1D and 2D the variance of the followers' deviation increases to infinity as one moves away from the leader, while in 3D it remains bounded. We pr…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The main challenges of the concerned problem lie in unbalanced directed graphs and nonlinearities of multi-agent systems with their agent states not available for feedback control. Based on a two-layer controller structure, a distributed optimal coordinator is first designed to convert the considered problem into a reference-tracking problem. Then a decentraliz…
Adaptive Output Synchronization for a Class of Uncertain Nonlinear Multi-Agent Systems over Switching Networks
针对切换网络下不确定非线性多智能体系统，提出融合自适应分布式观测器等的控制方法，仅需领导者输出且支持异阶智能体，还可处理未知界有界扰动，涵盖状态一致性特例。
We consider distributed control of double-integrator networks, where agents are subject to stochastic disturbances. We study performance of such networks in terms of coherence, defined through an H2 norm metric that represents the variance of nodal state fluctuations. Specifically, we address known performance limitations of the standard consensus protocol, which cause this variance to scale unboundedly with network size for a large class of networks. We propose distributed proportional integral (PI) and proportional derivative (PD) controllers that relax these limitations and achieve bounded …
Performance bounds for multi-vehicle networks with local integrators
本文将串行一致性设计的性能结果从二阶推广到任意 n 阶积分器系统，给出基于对角化矩阵条件数的性能界，并通过PI控制车辆编队案例验证三阶串行一致性对负载扰动的抑制效果。
Coherency Analysis in Nonlinear Heterogeneous Power Networks: A Blended Dynamics Approach
本文扩展混合动力学方法分析非线性异构电力网络的同调性，证明高网络连通性或扰动小时变率可使节点频率逼近并长期跟随混合动力学轨迹。
扫码添加微信好友，提出您的宝贵建议 👇
💡 备注请填写：网站反馈
发表机构由 AI 从论文文本抽取，如发现错误，欢迎反馈修正建议。