Yutao Tang

Beijing University of Posts and Telecommunications | BUPT · School of Intelligent Engineering and Automation

In this paper, a distributed output regulation problem is formulated for a class of uncertain nonlinear multi-agent systems subject to local disturbances. The formulation is given to study a leader-following problem when the leader contains unknown inputs and its dynamics is different from those of the followers. Based on the conventional output re...

In this paper, we study an optimal output consensus problem for a multi-agent network with agents in the form of multi-input multi-output minimum-phase dynamics. Optimal output consensus can be taken as an extended version of the existing output consensus problem for higher-order agents with an optimization requirement, where the output variables o...

In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic uncertainties. A two-step design, comprising sequential constructions of optimal signal generator and distribute...

In this paper, we consider a Nash equilibrium seeking problem for a class of high-order multi-agent systems with unknown dynamics. Different from existing results for single integrators, we aim to steer the outputs of this class of uncertain high-order agents to the Nash equilibrium of some noncooperative game in a distributed manner. To overcome t...

In this paper, we study a distributed model to cooperatively compute variational inequalities over time-varying directed graphs. Here, each agent has access to a part of the full mapping and holds a local view of the global set constraint. By virtue of an auxiliary vector to compensate the graph imbalance, we propose a consensus-based distributed p...

This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined in the positive orthant. To...

This paper studies the leader-following positive consensus for a group of heterogeneous multi-agent systems. The followers’ dynamics are allowed to be mutually different from each other and also the leader, while the communication graph is not required to be fixed or connected. To tackle this problem, we first present an extended distributed observ...

This paper aims at distributed algorithms for solving a system of linear algebraic equations. Different from most existing formulations for this problem, we assume that the local data at each node is not accurately measured but subject to some disturbances. To be specific, the local measurement consists of two parts: a nominal value and a multiple...

In this article, we consider a Nash equilibrium seeking problem for a class of high-order multiagent systems with unknown dynamics. Different from existing results for single integrators, we aim to steer the outputs of this class of uncertain high-order agents to the Nash equilibrium of some noncooperative game in a distributed manner. To overcome...

This paper studies the distributed optimization problem when the objective functions might be nondifferentiable and subject to heterogeneous set constraints. Unlike existing subgradient methods, the authors focus on the case when the exact subgradients of the local objective functions can not be accessed by the agents. To solve this problem, the au...

In this paper, we aim to develop distributed continuous-time algorithms over directed graphs to seek the Nash equilibrium in a noncooperative game. Motivated by the recent consensus-based designs, we present a distributed algorithm with a proportional gain for weight-balanced directed graphs. By further embedding a distributed estimator of the left...

In this brief, we aim to provide a distributed Nash equilibrium seeking algorithm in continuous time with discrete communications. A group of agents are considered playing a continuous-kernel noncooperative game over a network. The agents need to seek the Nash equilibrium when each player cannot get the overall action profiles in real time, rather...

In this paper, we study the distributed optimization problem using approximate first-order information. We suppose the agent can repeatedly call an inexact first-order oracle of each individual objective function and exchange information with its time-varying neighbors. We revisit the distributed subgradient method in this circumstance and show its...

This paper is devoted to the leader-following consensus problem for a collection of discrete-time positive linear systems. In this problem, the state variables of all agents are confined in the positive orthant and we aim at distributed rules for the followers to track a reference signal generated by a positive leader. To tackle such a problem, we...

In this article, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi‐agent systems described by high‐order dynamics subject to both unknown nonlinearities and external disturbances. Each agent has a private objective function and a steady‐state constraint about its output. We develop a composite di...

This paper studies the optimal output consensus problem for a group of heterogeneous linear multi-agent systems. Different from existing results, we aim at effective controllers for these high-order agents under both event-triggered control and event-triggered communication settings. We conduct an embedded design for the problem and constructively...

In this paper, we consider a positive consensus problem for some high-order linear multi-agent systems. Compared with existing consensus results, the most distinct feature of the formulated problem is that the state variables of all heterogeneous agents are confined to the positive orthant. To solve this problem, we first present some auxiliary mul...

The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this article, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and aim at distributed robust controllers by measurement output feedback. We first develop a dynamic compensator t...

This letter studies the optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, reaching an optimal consensus further requires the consensus point to be a solution to some distributed optimization problem. First, we construct an optimal signal generator to r...

This paper studies the distributed optimization problem where the objective functions might be nondifferentiable and subject to heterogeneous set constraints. Unlike existing subgradient methods, we focus on the case when the exact subgradients of the local objective functions can not be accessed by the agents. To solve this problem, we propose a p...

This paper studies an optimal output consensus problem for discrete‐time linear multi‐agent 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 aggreg...

In this paper, an optimal output consensus problem is studied for discrete-time linear multi-agent 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...

This paper investigates an optimal consensus problem for a group of uncertain linear multi-agent systems. All agents are allowed to possess parametric uncertainties that range over an arbitrarily large compact set. The goal is to collectively minimize a sum of local costs in a distributed fashion and finally achieve an output consensus on this opti...

In this paper, we consider an optimal consensus problem for a group of high-order agents with unknown control directions. Both the system orders and control directions of these agents are allowed to be nonidentical. To solve this problem, we first augment each agent with an optimal signal generator to reproduce the global optimal point of the given...

In this paper, we aim to develop distributed continuous-time algorithms under directed graphs to seek the Nash equilibrium of a noncooperative game. Motivated by the existing consensus-based designs in Gadjov and Pavel (2019), we present a distributed algorithm with a proportional gain for weight-balanced directed graphs. By further embedding a dis...

In this paper, we investigate a constrained optimal coordination problem for a class of heterogeneous nonlinear multi-agent systems described by high-order dynamics subject to both unknown nonlinearities and external disturbances. Each agent has a private objective function and a constraint about its output. A neural network-based distributed contr...

In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic uncertainties. A two-step design, comprising sequential constructions of optimal signal generator and distribute...

In this paper, a distributed optimal steady-state regulation problem is formulated and investigated for heterogeneous linear multiagent systems subject to external disturbances. We aim to steer this high-order multiagent network to a prescribed steady-state determined as the optimal solution of a resource allocation problem in a distributed way. To...

In this paper, we study a distributed optimization problem for a class of high‐order multiagent systems with unknown dynamics. In comparison with existing results for integrators or linear agents, we need to overcome the difficulties brought by the unknown nonlinearities and the optimization requirement. For this purpose, we employ an embedded cont...

In this study, a multi-Agent coordination problem with steady-state regulation constraints is investigated for a class of non-linear systems. Unlike the existing leader-following coordination formulations, a reference signal is not given by a dynamic autonomous leader but determined as the optimal solution of a distributed optimisation problem. Fur...

This paper investigates the relative attitude formation control problem for a group of rigid-body agents using relative attitude information on SO(3). On the basis of the gradient of a potential function, a family of distributed angular velocity control laws, which differ in the sense of a geodesic distance dependent function, is proposed. With dir...

This paper investigates a resource allocation problem over a class of nonlinear multi-agent systems, which may be subject to unknown observation disturbances. We aim to drive the outputs of agent to the optimal resource allocation by using only local data and exchanged information from their neighbors. This problem can be taken as an extension of t...

In this paper, a novel two-level framework was proposed and applied to solve the output average consensus problem over heterogeneous multi-agent systems. This approach is mainly based on the recent technique of system abstraction. For given multi-agent systems, we first constructed their abstractions as the upper level and solved their average cons...

In this paper, we consider a coordination problem for a class of heterogeneous nonlinear multi-agent systems with a prescribed input-output behavior which was represented by another input-driven system. In contrast to most existing multi-agent coordination results with an autonomous (virtual) leader, this formulation takes possible control inputs o...

In this paper, a leader-following coordination problem of heterogeneous multi-agent systems is considered under switching topologies where each agent is subject to some local (unbounded) disturbances. While these unknown disturbances may disrupt the performance of agents, a disturbance observer based approach is employed to estimate and reject them...

This paper considers a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output feedback control laws are derived to solve this problem. The proposed design is robust by admitting some parameter uncertai...

In this paper, we consider an output consensus problem for a general class of nonlinear multi-agent systems without a prior knowledge of the agents' control directions. Two distributed Nussbaumtype control laws are proposed to solve the leaderless and leader-following adaptive consensus for heterogeneous multiple agents. Examples and simulations ar...

A leader-following coordination problem is considered in this study where the active leader is driven by an unknown input. With the help of output regulation and disturbance decoupling, a distributed protocol is proposed to solve this problem. Two cases are studied based on whether the bound of uncertain (disturbance) inputs of the leader is known....

In this paper, we consider a hierarchical control design for multi-agent systems based on approximate simulation. To reduce complexity, we first construct a simple abstract system to guide the agents, then we discuss the simulation relations between the abstract system and multiple agents. With the help of this abstract system, distributed hierarch...

Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. The interface construction problem is solved for a class of nonlinear systems. Moreover, with a small-gain type condition, the abstraction resul...

In this paper, we consider flexible formation and related control design of multi-robot systems. A hierarchical structure is provided for flexible formation of unicycle robots. With the virtual hierarchy defined in light of interconnection graphs, the formation and related parameters can be changed in different levels of the whole structure. The fo...

In this paper, a hierarchical control design for multi-agent systems is considered, where the agents are guided by a simple abstract system. The simulation relations are discussed for coordination of multiple agents, and then distributed controls are proposed with switching topology for collective behaviors such as consensus tracking and formation...

In this paper, we consider a multi-agent consensus problem with an active leader and variable interconnection topology. The dynamics of the active leader is given in a general form of linear system. The switching interconnection topology with communication delay among the agents is taken into consideration. A neighbor-based estimator is designed fo...

This paper considers a target tracking problem, and the dynamics of the target regarded as an active leader is given in a general form of linear system. The multi-agent network contains communication delays and experiences switching intercon- nection. A distributed estimator is designed for each agent to obtain the unmeasurable state variables of t...