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		Bin Cheng1,2,Gang Li1,et al.[en_title][J].Control Theory and Technology,2024,22(4):623~637.[Copy]

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BinCheng1,2,GangLi1,2,4,KunAn3,ChunhuiYu3
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(1 Department of Control Science and Engineering, Tongji University, Shanghai 201804, China 2 Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China;4 Shanghai Sunshine Rehabilitation Center, Shanghai 201613, China;3 The Key Laboratory of Road and Traffic Engineering of the Ministry of Education, Tongji University, Shanghai 201804, China)

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DOI：https://doi.org/10.1007/s11768-024-00203-z

基金项目:This work was supported in part by the National Key Research and Development Program of China (No. 2020AAA0108905), by the National Natural Science Foundation of China (Nos. 62103302, 62273262, 62088101), by the Shanghai Sailing Program (No. 21YF1450300), by the Shanghai Chenguang Program (No. 22CGA19), by the Shanghai Municipal Science and Technology Major Project (No. 2021SHZDZX0100), by the Shanghai Science and Technology Planning Project (Nos. 21ZR1466400, 22QA1408500), by the Shanghai Municipal Commission of Science and Technology Project (No. 19511132101), by the Fundamental Research Funds for the Central Universities (No. 2022-5-YB-05), by the Industry, Education and Research Innovation Foundation of Chinese University (Nos. 2021ZYA02008, 2021ZYA03004), and by the Special Fund for Independent Innovation of Aero Engine Corporation of China (No. ZZCX-2021-007).

Distributed robust matrix-scaled consensus control of perturbed multi-agent systems

Bin Cheng1,2,Gang Li1,2,4,Kun An3,Chunhui Yu3

(1 Department of Control Science and Engineering, Tongji University, Shanghai 201804, China 2 Shanghai Research Institute for Intelligent Autonomous Systems, Shanghai 201210, China;4 Shanghai Sunshine Rehabilitation Center, Shanghai 201613, China;3 The Key Laboratory of Road and Traffic Engineering of the Ministry of Education, Tongji University, Shanghai 201804, China)

Abstract:

Distributed matrix-scaled consensus is a kind of generalized cooperative control problem and has broad applications in the field of social network and engineering. This paper addresses the robust distributed matrix-scaled consensus of perturbed multi-agent systems suffering from unknown disturbances. Distributed discontinuous protocols are first proposed to drive agents to achieve cluster consensus and suppress the effect of disturbances. Adaptive protocols with time-varying gains obeying differential equations are also designed, which are completely distributed and rely on no global information. Using the boundary layer technique, smooth protocols are proposed to avoid the unexpected chattering effect due to discontinuous functions. As a cost, under the designed smooth protocols, the defined matrix-scaled consensus error tends to a residual set rather than zero, in which the residual bound is arbitrary small by choosing proper parameters. Moreover, distributed dynamic event-based matrix-scalar consensus controllers are also proposed to avoid continuous communications. Simulation examples are provided to further verify the designed algorithms.

Key words: Matrix-scaled consensus · Perturbed multi-agent systems · Adaptive control · Distributed control · Event-triggered control