Liu Tianqi, Liu Mengquan, Wen Guanghui, Lv Yuezu, Fu Junjie
IEEE Trans Cybern. 2022 Oct;52(10):10604-10610. doi: 10.1109/TCYB.2021.3062424. Epub 2022 Sep 19.
This article is devoted to designing distributed adaptive attack-free protocols for the consensus of linear multi-input multioutput multiagent systems under directed graphs, where the appointed-time reduced-order observers are proposed based only upon the relative output information among neighboring agents. One of the distinguishing features of the attack-free protocols lies in the prohibition on information transmission via the communication channel. By viewing the relative control input as the unknown input on the dynamics of each agent, a class of new unknown input observers is introduced with only the relative output measurement involved. The appointed-time estimation of the consensus error is achieved by utilizing jump discontinuity in the observer design and employing the property of the nilpotent matrix. Moreover, a linear transformation is made on the system of consensus error to realize the observer order reduction. Both theoretical analysis and simulation illustration are presented to reveal the effectiveness of the proposed attack-free protocols.
本文致力于设计有向图下线性多输入多输出多智能体系统一致性的分布式自适应无攻击协议，其中仅基于相邻智能体之间的相对输出信息提出了指定时间降阶观测器。无攻击协议的一个显著特征在于禁止通过通信信道进行信息传输。通过将相对控制输入视为每个智能体动态中的未知输入，引入了一类仅涉及相对输出测量的新型未知输入观测器。利用观测器设计中的跳跃间断性并借助幂零矩阵的性质实现了一致性误差的指定时间估计。此外，对一致性误差系统进行线性变换以实现观测器降阶。通过理论分析和仿真说明揭示了所提出的无攻击协议的有效性。
