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学者姓名：詹璟原
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Abstract ：
This paper studies the control problem for vehicle platoons under switching communication topologies, where the Predecessor-Following (PF)-failure topology is allowed. Firstly, we design a local optimization problem for each vehicle by using the state information of itself and its neighbouring vehicles, and then present Algorithm 1 based on Distributed Model Predictive Control (DMPC). By constructing a common Lyapunov function defined by the joint neighbourhood set, we derive sufficient conditions with respect to the weight matrices in the open-loop optimization problem and the switching topologies for ensuring the stability of the closed-loop system under Algorithm 1. Furthermore, we propose Algorithm 2 by introducing novel constraints into the local optimization problem for each vehicle, which utilize shrinking historical position errors to cope with PF-link failures, such that the string stability of the vehicle platoon is ensured. Finally, numerical examples are presented to demonstrate the effectiveness of the proposed DMPC algorithms for the vehicel platoon under switching communication topologies.
Keyword ：
switching topology switching topology vehicle platoon vehicle platoon string stability string stability distributed model predictive control distributed model predictive control
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| GB/T 7714 | Chen, Liang , Zhan, Jingyuan , Zhang, Liguo . Distributed model predictive control of vehicle platoons under switching communication topologies [J]. | IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION , 2023 , 40 (4) : 638-658 . |
| MLA | Chen, Liang 等. "Distributed model predictive control of vehicle platoons under switching communication topologies" . | IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION 40 . 4 (2023) : 638-658 . |
| APA | Chen, Liang , Zhan, Jingyuan , Zhang, Liguo . Distributed model predictive control of vehicle platoons under switching communication topologies . | IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION , 2023 , 40 (4) , 638-658 . |
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Abstract ：
In this article, the consensus of constrained linear heterogeneous multiagent systems under prediction and optimization is investigated. By optimizing the consensus problems constrained to state equations and general linear constraints, two types of distributed analytical model predictive controllers are proposed. Furthermore, stability conditions for the two types of controllers are derived, in which a relationship between the communication topology and dynamics of heterogeneous agents is clarified. Simulation examples of networked heterogeneous agents illustrate the convergence and validity of the proposed controllers.
Keyword ：
Constrained optimization Constrained optimization model predictive control model predictive control distributed consensus distributed consensus heterogeneous multiagent systems (HMASs) heterogeneous multiagent systems (HMASs)
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| GB/T 7714 | Li, Huiyan , Zhan, Jingyuan , Zhang, Hai-Tao et al. Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems [J]. | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2023 , 53 (7) : 4155-4164 . |
| MLA | Li, Huiyan et al. "Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems" . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 53 . 7 (2023) : 4155-4164 . |
| APA | Li, Huiyan , Zhan, Jingyuan , Zhang, Hai-Tao , Li, Xiang . Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems . | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS , 2023 , 53 (7) , 4155-4164 . |
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Abstract ：
This study deals with the problem of gain-scheduled robust control for multi-agent linear parameter varying (LPV) systems with or without communication delays. The system matrices are assumed to depend on the scheduling parameters, which are supposed to be time-varying within a priori known bounds. First, a linear transformation matrix is constructed from the directed spanning tree of the communication topology of the agents, which equivalently transforms the robust consensus control problem of multi-agent LPV systems into the robust stability problem of a set of parameter-dependent systems. What's more, the effect of the time-varying communication delays is considered, and consensus condition in terms of linear matrix inequalities (LMIs) is derived by using the parameter-dependent Lyapunov-Krasovskii approach. Then, the control gain matrices are obtained through solving a convex optimization problem. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.
Keyword ：
multi-agent systems multi-agent systems consensus consensus gain-scheduled robust control gain-scheduled robust control linear parameter-varying system linear parameter-varying system communication delay communication delay
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| GB/T 7714 | Chen, Yangzhou , Huang, Xiaolong , Zhan, Jingyuan . Gain-scheduled robust control for multi-agent linear parameter-varying systems with communication delays [J]. | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2021 , 32 (2) : 792-806 . |
| MLA | Chen, Yangzhou et al. "Gain-scheduled robust control for multi-agent linear parameter-varying systems with communication delays" . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 32 . 2 (2021) : 792-806 . |
| APA | Chen, Yangzhou , Huang, Xiaolong , Zhan, Jingyuan . Gain-scheduled robust control for multi-agent linear parameter-varying systems with communication delays . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2021 , 32 (2) , 792-806 . |
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Abstract ：
This paper focuses on the leader-following consensus problem of multi-agent systems under both undirected and directed networks, where each agent is subject to the switched linear dynamics. It is assumed that the switching between the subsystems of the agents is arbitrary. We utilize the incidence matrix of a virtual directed spanning tree rooted at the leader to construct a linear transformation matrix so as to equivalently transform the leader-following consensus problem into the globally uniformly asymptotic stability (GUAS) problem of a switched linear system. Then, based on the common Lyapunov function method, we derive some sufficient conditions in terms of the linear matrix inequalities (LMIs) to assure the globally uniformly asymptotic consensus of the multi-agent system. Finally, some numerical examples are given to illustrate the effectiveness of the theoretical results.
Keyword ：
Leader-following consensus Leader-following consensus switched linear dynamics switched linear dynamics linear transformation linear transformation LMIs LMIs directed spanning tree directed spanning tree
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| GB/T 7714 | Chen, Yangzhou , Chen, Bing , Zhan, Jingyuan . Leader-following Consensus of Switched Linear Multi-agent Systems Under Arbitrary Switching Signal [J]. | 2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) , 2021 : 5234-5239 . |
| MLA | Chen, Yangzhou et al. "Leader-following Consensus of Switched Linear Multi-agent Systems Under Arbitrary Switching Signal" . | 2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) (2021) : 5234-5239 . |
| APA | Chen, Yangzhou , Chen, Bing , Zhan, Jingyuan . Leader-following Consensus of Switched Linear Multi-agent Systems Under Arbitrary Switching Signal . | 2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) , 2021 , 5234-5239 . |
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Abstract ：
This paper studies the leader-following state consensus problem for heterogeneous linear multi-agent systems under fixed directed communication topologies. First, we propose a consensus protocol consisting of four parts for high-order multi-agent systems, in which different agents are allowed to have different gain matrices so as to increase the degree of design freedom. Then, we adopt a state linear transformation, which is constructed based on the incidence matrix of a directed spanning tree of the communication topology, to equivalently transform the state consensus problem into a partial variable stability problem. Meanwhile, the results of the partial variable stability theory are used to derive a sufficient and necessary consensus criterion, expressed as the Hurwitz stability of a real matrix. Then, this criterion is further expressed as a bilinear matrix inequality condition, and, based on this condition, an iterative algorithm is proposed to find the gain matrices of the protocol. Finally, numerical examples are provided to verify the effectiveness of the proposed protocol design method.
Keyword ：
consensus criterion consensus criterion bilinear matrix inequality bilinear matrix inequality state linear transformation state linear transformation leader-following state consensus leader-following state consensus partial variable stability partial variable stability Heterogeneous linear multi-agent system Heterogeneous linear multi-agent system
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| GB/T 7714 | Chen, Yangzhou , Xu, Guangyue , Zhan, Jingyuan . Leader-following consensus of heterogeneous linear multi-agent systems: New results based on linear transformation method [J]. | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL , 2021 , 44 (7) : 1473-1483 . |
| MLA | Chen, Yangzhou et al. "Leader-following consensus of heterogeneous linear multi-agent systems: New results based on linear transformation method" . | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 44 . 7 (2021) : 1473-1483 . |
| APA | Chen, Yangzhou , Xu, Guangyue , Zhan, Jingyuan . Leader-following consensus of heterogeneous linear multi-agent systems: New results based on linear transformation method . | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL , 2021 , 44 (7) , 1473-1483 . |
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Abstract ：
Distributed robust consensus problem for a class of multi-agent systems (MASs) with uncertain communication topology is investigated. We propose a state linear transformation by constructing the incidence matrix of a directed spanning tree in the nominal communication topology, and transform the problem of state consensus of uncertain multiagent systems into the problem of robust partial asymptotic stability of corresponding linear systems. Firstly, we use the linear transformation constructed from a directed spanning tree to transform the closed uncertain MAS into a reduced-order system. Secondly, by using decomposition of perturbation Laplacian matrix, we design a quadratic stabilization robust controller for the reduced-order system, and derive a sufficient condition guaranteeing all agents's states to achieve asymptotic consensus. Based on the condition, the design problem of protocol parameters is converted into finding the feasible solution of linear matrix inequalities. Finally, the effectiveness and feasibility of the proposed approach is verified by simulation examples. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
Keyword ：
Topology Topology Multi agent systems Multi agent systems Asymptotic stability Asymptotic stability Linear matrix inequalities Linear matrix inequalities Linear systems Linear systems Linear transformations Linear transformations Mathematical transformations Mathematical transformations
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| GB/T 7714 | Chen, Yang-Zhou , Huang, Xiao-Long , Zhan, Jing-Yuan . Robust consensus of multi-agent systems with uncertain communication topology [J]. | Control Theory and Applications , 2020 , 37 (8) : 1709-1716 . |
| MLA | Chen, Yang-Zhou et al. "Robust consensus of multi-agent systems with uncertain communication topology" . | Control Theory and Applications 37 . 8 (2020) : 1709-1716 . |
| APA | Chen, Yang-Zhou , Huang, Xiao-Long , Zhan, Jing-Yuan . Robust consensus of multi-agent systems with uncertain communication topology . | Control Theory and Applications , 2020 , 37 (8) , 1709-1716 . |
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Abstract ：
Event-triggered control is an effective control approach with control update instants determined by pre-defined event-triggering conditions, and the triggering conditions are usually required to be tested continuously. In this paper, we present an adaptive event-triggered distributed model predictive control algorithm for nonlinear continuous-time multi-agent systems. All the agents are able to adaptively determine when to check the triggering conditions, which means the triggering conditions are tested intermittently with intervals determined adaptively. We prove the feasibility of the proposed algorithm, and also prove that the multi-agent system under the algorithm will converge to an invariant set in finite time by utilizing variable prediction horizon approach instead of the Lyapunov function method, such that the event-triggering conditions are less conservative. Finally, we provide numerical examples to verify the effectiveness and superiority of the proposed algorithm, revealing that the proposed algorithm can efficiently reduce the communication and computation cost as well as the sensing load. (C) 2019 Elsevier B.V. All rights reserved.
Keyword ：
Distributed model predictive control Distributed model predictive control Nonlinear system Nonlinear system Event-triggered control Event-triggered control Multi-agent system Multi-agent system
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| GB/T 7714 | Zhan, Jingyuan , Hu, Yanjie , Li, Xiang . Adaptive event-triggered distributed model predictive control for multi-agent systems [J]. | SYSTEMS & CONTROL LETTERS , 2019 , 134 . |
| MLA | Zhan, Jingyuan et al. "Adaptive event-triggered distributed model predictive control for multi-agent systems" . | SYSTEMS & CONTROL LETTERS 134 (2019) . |
| APA | Zhan, Jingyuan , Hu, Yanjie , Li, Xiang . Adaptive event-triggered distributed model predictive control for multi-agent systems . | SYSTEMS & CONTROL LETTERS , 2019 , 134 . |
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