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Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach Research Articles

Jiaqi Li, Qingling Wang, Yanxu Su, Changyin Sun,jiaqil2018@seu.edu.cn,qlwang@seu.edu.cn,yanxu.su@seu.edu.cn,cysun@seu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 8,   Pages 1068-1079 doi: 10.1631/FITEE.2000182

Abstract: This study investigates the problem of a nonlinear discrete-time multi-agent system (MAS) under bounded additive disturbances. We propose a self-triggered robust algorithm. A new cost function is constructed and MAS is coupled through this function. Based on the proposed cost function, a self-triggered mechanism is adopted to reduce the communication load. Furthermore, to overcome additive disturbances, a local minimum– maximum optimization problem under the worst-case scenario is solved iteratively by the model predictive controller of each agent. Sufficient conditions are provided to guarantee the iterative feasibility of the algorithm and the of the closed-loop MAS. For each agent, we provide a concrete form of compatibility constraint and a error terminal region. Numerical examples are provided to illustrate the effectiveness and correctness of the proposed algorithm.

Keywords： 一致性；自触发控制；分布式模型预测控制    

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Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm over a wireless sensor network Research Articles

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000206

Abstract: This paper presents the design of a new event-triggered Kalman consensus filter (ET-KCF) algorithm for use over a wireless sensor network (WSN). This algorithm is based on information freshness, which is calculated as the of the sampled data. The proposed algorithm integrates the traditional , information freshness calculation method, and Kalman consensus filter (KCF) algorithm to estimate the concentrations of pollutants in the aircraft more efficiently. The proposed method also considers the influence of data packet loss and the aircraft’s loss of communication path over the WSN, and presents an AoI-freshness-based threshold selection method for the ET-KCF algorithm, which compares the packet AoI to the minimum average AoI of the system. This method can obviously reduce the energy consumption because the transmission of expired information is reduced. Finally, the convergence of the algorithm is proved using the Lyapunov stability theory and matrix theory. Simulation results show that this algorithm has better fault tolerance compared to the existing KCF and lower power consumption than other ET-KCFs.

Keywords： Distributed Kalman consensus filter (KCF)     Event-triggered mechanism     Age of information (AoI)     Stability analysis     Energy optimization    

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Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision Article

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, Yao-hong QU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 7,   Pages 968-977 doi: 10.1631/FITEE.1600004

Abstract: We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.

Keywords： Multiple unmanned aerial vehicles     Consensus     Cooperative guidance     Cooperative control     Synchronization technology    

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Autonomous fault-diagnosis and decision-making algorithm for determining faulty nodes in distributed wireless networks Article

Adel KHOSRAVI,Yousef SEIFI KAVIAN

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 9,   Pages 885-896 doi: 10.1631/FITEE.1500176

Abstract: In this paper, we address fault-diagnosis agreement (FDA) problems in distributed wireless networks (DWNs) with arbitrary fallible nodes and healthy access points. We propose a new algorithm to reach an agreement among fault-free members about the faulty ones. The algorithm is designed for fully connected DWN and can also be easily adapted to partially connected networks. Our contribution is to reduce the bit complexity of the Byzantine agreement process by detecting the same list of faulty units in all fault-free members. Therefore, the malicious units can be removed from other consensus processes. Also, each healthy unit detects a local list of malicious units, which results in lower packet transmissions in the network. Our proposed algorithm solves FDA problems in 2t+1 rounds of packet transmissions, and the bit complexity in each wireless node is O(nt+1).

Keywords： Fault diagnosis     Decision making     Byzantine agreement     Distributed wireless networks     Consensus    

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Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks Article

Hao-liang LI, Ren-nong YANG, Qiu-ni LI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 8,   Pages 1071-1081 doi: 10.1631/FITEE.1601422

Abstract: The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.

Keywords： Multi-agent     Consensus     PID control     Linear matrix inequality    

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Finite-time leader-follower consensus of a discrete-time system via sliding mode control Research Article

Ruizhuo SONG, Shi XING, Zhen XU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1057-1068 doi: 10.1631/FITEE.2100565

Abstract: In this study, we solve the problem of discrete-time second-order (MASs) under the constraints of external disturbances. First, a novel consensus scheme is designed using a novel theory. Our adaptive controller is designed using the traditional sliding mode reaching law, and its advantages are chatter reduction and invariance to disturbances. In addition, the stability is demonstrated by presenting a discrete Lyapunov function. Finally, simulation results are presented to prove the validity of our theoretical results.

Keywords： Finite-time     Leader-follower consensus     Adaptive sliding mode control     Multi-agent systems    

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Consensus of multi-agent systems with dynamic join characteristics under impulsive control Research Articles

Xiang Hu, Zufan Zhang, Chuandong Li,huyangyu0203@163.com,zhangzf@cqupt.edu.cn,cdli@swu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000062

Abstract: We study how to achieve the of a whole after adding some new agent groups dynamically in the original . We analyze the feasibility of dynamically adding agent groups under different forms of network topologies that are currently common, and obtain four feasible schemes in theory, including one scheme that is the best in actual industrial production. Then, we carry out dynamic modeling of s for the best scheme. Impulsive control theory and Lyapunov stability theory are used to analyze the conditions so that the whole with can achieve . Finally, we provide a numerical example to verify the practicality and validity of the theory

Keywords： Multi-agent system     Network topology     Impulsive input     Dynamic join characteristics     State consensus    

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Coherence analysis and Laplacian energy of recursive trees with controlled initial states Research Articles

Mei-du Hong, Wei-gang Sun, Su-yu Liu, Teng-fei Xuan,wgsun@hdu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 6,   Pages 809-962 doi: 10.1631/FITEE.1900133

Abstract: We study the of a family of recursive trees with novel features that include the initial states controlled by a parameter. The problem in a linear system with additive noises is characterized as , which is defined by a Laplacian spectrum. Based on the structures of our recursive treelike model, we obtain the recursive relationships for Laplacian eigenvalues in two successive steps and further derive the exact solutions of first- and second-order coherences, which are calculated by the sum and square sum of the reciprocal of all nonzero Laplacian eigenvalues. For a large network size , the scalings of the first- and second-order coherences are ln and $, respectively. The smaller the number of initial nodes, the better the bears. Finally, we numerically investigate the relationship between and , showing that the first- and second-order coherences increase with the increase of at approximately exponential and linear rates, respectively.

Keywords： 一致性；网络一致性；拉普拉斯能量    

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Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game Research Article

Hongyang LI, Qinglai WEI

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1010-1019 doi: 10.1631/FITEE.2200010

Abstract: This paper presents a novel method for with . The multi-agent game theory is introduced to transform the problem into a multi-agent . Then, the Nash equilibrium can be achieved by solving the coupled Hamilton–Jacobi–Bellman (HJB) equations with nonquadratic input energy terms. A novel method is presented to obtain the Nash equilibrium solution without the system models, and the critic neural networks (NNs) and actor NNs are introduced to implement the presented method. Theoretical analysis is provided, which shows that the iterative control laws converge to the Nash equilibrium. Simulation results show the good performance of the presented method.

Keywords： Optimal synchronization control     Multi-agent systems     Nonzero-sum game     Adaptive dynamic programming     Input saturation     Off-policy reinforcement learning     Policy iteration    

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Big data storage technologies: a survey Review

Aisha SIDDIQA, Ahmad KARIM, Abdullah GANI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 8,   Pages 1040-1070 doi: 10.1631/FITEE.1500441

Abstract: There is a great thrust in industry toward the development of more feasible and viable tools for storing fast-growing volume, velocity, and diversity of data, termed ‘big data’. The structural shift of the storage mechanism from traditional data management systems to NoSQL technology is due to the intention of fulfilling big data storage requirements. However, the available big data storage technologies are inefficient to provide consistent, scalable, and available solutions for continuously growing heterogeneous data. Storage is the preliminary process of big data analytics for real-world applications such as scientific experiments, healthcare, social networks, and e-business. So far, Amazon, Google, and Apache are some of the industry standards in providing big data storage solutions, yet the literature does not report an in-depth survey of storage technologies available for big data, investigating the performance and magnitude gains of these technologies. The primary objective of this paper is to conduct a comprehensive investigation of state-of-the-art storage technologies available for big data. A well-defined taxonomy of big data storage technologies is presented to assist data analysts and researchers in understanding and selecting a storage mechanism that better fits their needs. To evaluate the performance of different storage architectures, we compare and analyze the existing approaches using Brewer’s CAP theorem. The significance and applications of storage technologies and support to other categories are discussed. Several future research challenges are highlighted with the intention to expedite the deployment of a reliable and scalable storage system.

Keywords： Big data     Big data storage     NoSQL databases     Distributed databases     CAP theorem     Scalability     Consistency- partition resilience     Availability-partition resilience    

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Containment control for heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes Research Articles

Ya-ni Sun, Wen-cheng Zou, Jian Guo, Zheng-rong Xiang,xiangzr@njust.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000034

Abstract: We study the problem for high-order heterogeneous nonlinear under distributed event-triggered schemes. To achieve the objective and reduce communication consumption among agents, a scheme is proposed by applying the backstepping method, Lyapunov functional approach, and neural networks. Then, the results are extended to the self-triggered control case to avoid continuous monitoring of state errors. The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error. In addition, no agent exhibits . Two numerical simulations are finally presented to verify the correctness of the obtained results.

Keywords： Multi-agent systems     Distributed event-triggered control     Containment control     Heterogeneous nonlinear systems     Zeno behavior    

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Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles Research Article

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1020-1031 doi: 10.1631/FITEE.2100559

Abstract: We investigate a for formations with external disturbances and obstacles. The strategy is based on a framework and . First, we propose a to estimate the influence of a disturbance, and prove that the observer converges in fixed time using a Lyapunov function. Second, we design an based on topology reconstruction, by which the UAV can save energy and safely pass obstacles. Third, we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors. Further, the cost function of each UAV is designed, by which the UAV formation problem is transformed into a game problem. Finally, we develop LFPIO and use it to solve the Nash equilibrium. Numerical simulations are conducted, and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.

Keywords： Distributed game strategy     Unmanned aerial vehicle (UAV)     Distributed model predictive control (MPC)     Levy flight based pigeon inspired optimization (LFPIO)     Non-singular fast terminal sliding mode observer (NFTSMO)     Obstacle avoidance strategy    

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Impact of distance between two hubs on the network coherence of tree networks

李达权,孙伟刚,胡鸿翔

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 9,   Pages 1349-1356 doi: 10.1631/FITEE.2200400

Abstract: We study the impact of the distance between two hubs on network coherence defined by Laplacian eigenvalues. Network coherence is a measure of the extent of consensus in a linear system with additive noise. To obtain an exact determination of coherence based on the distance, we choose a family of tree networks with two hubs controlled by two parameters. Using the tree’s regular structure, we obtain analytical expressions of the coherences with regard to network parameters and the network size. We then demonstrate that a shorter distance and a larger difference in the degrees of the two hubs lead to a higher coherence. With the same network size and distance, the best coherence occurs in the tree with the largest difference in the hub’s degrees. Finally, we establish a correlation between network coherence and average path length and find that they behave linearly.

Keywords： Consensus     Coherence     Distance     Average path length    

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Bipartite asynchronous impulsive tracking consensus for multi-agent systems Research Article

Lingzhong ZHANG, Yuanyuan LI, Jungang LOU, Jianquan LU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 10,   Pages 1522-1532 doi: 10.1631/FITEE.2100122

Abstract:

In this study, we discuss how (MASs) with a leader can achieve distributed using control strategies. The proposed control approach does not require the impulse to occur simultaneously for all agents. The communication links between neighboring nodes of MASs are antagonistic. When the leader’s control input is non-zero, sufficient conditions are obtained to achieve bipartite tracking in closed-loop MASs. More extensive ranges of effects are discussed, and the designed controller’s feedback can effectively work against adverse impulsive permutation. Simple algebraic conditions for estimating the impulsive gain boundary and interval are presented. Theoretical results are demonstrated with illustrative examples.

Keywords： Bipartite tracking     Multi-agent systems     Asynchronous impulsive     Consensus    

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Decentralized multi-agent reinforcement learning with networked agents: recent advances Review Article

Kaiqing Zhang, Zhuoran Yang, Tamer Başar,kzhang66@illinois.edu,zy6@princeton.edu,basar1@illinois.edu

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 6,   Pages 802-814 doi: 10.1631/FITEE.1900661

Abstract: Multi-agent (MARL) has long been a significant research topic in both machine learning and control systems. Recent development of (single-agent) deep has created a resurgence of interest in developing new MARL algorithms, especially those founded on theoretical analysis. In this paper, we review recent advances on a sub-area of this topic: decentralized MARL with networked agents. In this scenario, multiple agents perform sequential decision-making in a common environment, and without the coordination of any central controller, while being allowed to exchange information with their neighbors over a communication network. Such a setting finds broad applications in the control and operation of robots, unmanned vehicles, mobile sensor networks, and the smart grid. This review covers several of our research endeavors in this direction, as well as progress made by other researchers along the line. We hope that this review promotes additional research efforts in this exciting yet challenging area.

Keywords： 强化学习；多智能体系统；网络系统；一致性优化；分布式优化；博弈论    

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Title Author Date Type Operation

Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach

Jiaqi Li, Qingling Wang, Yanxu Su, Changyin Sun,jiaqil2018@seu.edu.cn,qlwang@seu.edu.cn,yanxu.su@seu.edu.cn,cysun@seu.edu.cn

Journal Article

Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm over a wireless sensor network

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Journal Article

Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, Yao-hong QU

Journal Article

Autonomous fault-diagnosis and decision-making algorithm for determining faulty nodes in distributed wireless networks

Adel KHOSRAVI,Yousef SEIFI KAVIAN

Journal Article

Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks

Hao-liang LI, Ren-nong YANG, Qiu-ni LI

Journal Article

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article

Consensus of multi-agent systems with dynamic join characteristics under impulsive control

Xiang Hu, Zufan Zhang, Chuandong Li,huyangyu0203@163.com,zhangzf@cqupt.edu.cn,cdli@swu.edu.cn

Journal Article

Coherence analysis and Laplacian energy of recursive trees with controlled initial states

Mei-du Hong, Wei-gang Sun, Su-yu Liu, Teng-fei Xuan,wgsun@hdu.edu.cn

Journal Article

Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game

Hongyang LI, Qinglai WEI

Journal Article

Big data storage technologies: a survey

Aisha SIDDIQA, Ahmad KARIM, Abdullah GANI

Journal Article

Containment control for heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes

Ya-ni Sun, Wen-cheng Zou, Jian Guo, Zheng-rong Xiang,xiangzr@njust.edu.cn

Journal Article

Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

Yang YUAN, Yimin DENG, Sida LUO, Haibin DUAN

Journal Article

Impact of distance between two hubs on the network coherence of tree networks

李达权,孙伟刚,胡鸿翔

Journal Article

Bipartite asynchronous impulsive tracking consensus for multi-agent systems

Lingzhong ZHANG, Yuanyuan LI, Jungang LOU, Jianquan LU

Journal Article

Decentralized multi-agent reinforcement learning with networked agents: recent advances

Kaiqing Zhang, Zhuoran Yang, Tamer Başar,kzhang66@illinois.edu,zy6@princeton.edu,basar1@illinois.edu

Journal Article