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学者姓名：苏友峰
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Abstract ：
This article studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed distributed continuous feedback control law, where an explicit strict Lyapunov function is constructed. Then, by investigating the convergence rate, it is further proven that the closed-loop system is globally K-exponentially stable. Moreover, to make the proposed control law more practical, the distributed continuous feedback control law is generalized to a distributed sampled-data feedback control law using the emulation approach, based on the strong integral input-to-state stable Lyapunov function. Numerical simulations are presented to validate the effectiveness of the proposed control methods.
Keyword ：
cooperative tracking cooperative tracking K-exponential stability K-exponential stability multiple nonholonomic mobile robots multiple nonholonomic mobile robots sampled-data control sampled-data control strict Lyapunov function strict Lyapunov function
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| GB/T 7714 | Xu, Liang , Su, Youfeng , Cai, He . Cooperative Global K-Exponential Tracking Control of Multiple Mobile Robots [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2025 , 70 (2) : 1214-1221 . |
| MLA | Xu, Liang 等. "Cooperative Global K-Exponential Tracking Control of Multiple Mobile Robots" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 70 . 2 (2025) : 1214-1221 . |
| APA | Xu, Liang , Su, Youfeng , Cai, He . Cooperative Global K-Exponential Tracking Control of Multiple Mobile Robots . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2025 , 70 (2) , 1214-1221 . |
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This paper solves the leaderless consensus problem of multiple nonholonomic mobile robots over undirected graphs by a novel distributed event-triggered controller where a persistently exciting signal is utilized to overcome the nonholonomic constraint. A new triggering mechanism containing two triggering conditions is developed with respect to the cascaded structure of the closed-loop system which makes the leaderless consensus problem tractable in the sense that we no longer need to find any strict Lyapunov function for the entire closed-loop system. It is proven in order that the solution of the closed-loop system is uniformly globally bounded, that the full consensus subspace is uniformly globally exponentially attractive, and that the Zeno behavior shall never occur. A numerical example is provided to validate the effectiveness of the proposed controller. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keyword ：
Cascade system Cascade system Event-triggered control Event-triggered control Leaderless consensus Leaderless consensus Nonholonomic mobile robots Nonholonomic mobile robots
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| GB/T 7714 | Xu, Liang , Su, Youfeng , Cai, He . Event-triggered consensus of multiple nonholonomic mobile robots [J]. | AUTOMATICA , 2025 , 174 . |
| MLA | Xu, Liang 等. "Event-triggered consensus of multiple nonholonomic mobile robots" . | AUTOMATICA 174 (2025) . |
| APA | Xu, Liang , Su, Youfeng , Cai, He . Event-triggered consensus of multiple nonholonomic mobile robots . | AUTOMATICA , 2025 , 174 . |
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The cooperative robust resilient output regulation problem is investigated in this article for linear uncertain multiagent systems under denial-of-service (DoS) attacks. To tackle arbitrarily large parametric uncertainties, the canonical internal model is attached to the multiagent system, converting the cooperative robust resilient output regulation problem into the auxiliary event-triggered stabilization problem of the augmented error system. Then, employing a hybrid sampling mechanism mixing event-triggered and time-triggered scenarios, the augmented error system is stabilized by a novel sampled distributed output feedback control law. Moreover, rigorous proof shows that the Zeno behavior shall not happen. Finally, the proposed control scheme is applied to solve the geometric formation problem for a platoon of vehicles under DoS attacks.
Keyword ：
Cooperative output regulation Cooperative output regulation denial-of-service (DoS) attack denial-of-service (DoS) attack event-triggered control event-triggered control Internal model Internal model multiagent systems multiagent systems
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| GB/T 7714 | Hong, Yaxian , Su, Youfeng , Cai, He . Internal Model Based Cooperative Robust Resilient Control Under DoS Attacks With Application to Vehicles Formation [J]. | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 , 20 (11) : 13124-13134 . |
| MLA | Hong, Yaxian 等. "Internal Model Based Cooperative Robust Resilient Control Under DoS Attacks With Application to Vehicles Formation" . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 20 . 11 (2024) : 13124-13134 . |
| APA | Hong, Yaxian , Su, Youfeng , Cai, He . Internal Model Based Cooperative Robust Resilient Control Under DoS Attacks With Application to Vehicles Formation . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 , 20 (11) , 13124-13134 . |
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In this paper, the hybrid cooperative output regulation problem for linear multi-agent systems is formulated and investigated, where both the exosystem and the agent dynamics are hybrid linear systems with periodic jumps. To solve this problem, a distributed observer approach is proposed which consists of two steps. Firstly, a novel output-based hybrid distributed observer is designed which can achieve distributed information estimation for various practical hybrid exosystems. Secondly, by incorporating a decentralized hybrid output feedback control law with the proposed hybrid distributed observer, a hybrid distributed output feedback control law is synthesized to solve the hybrid cooperative output regulation problem. In comparison with the existing works targeting purely continuous-time multi-agent systems, the simplified forms for both the hybrid distributed observer and the hybrid output feedback control law proposed in this paper exhibit prominent advantages from various aspects, such as robustness against intermittent communication links and the sampled measurement of system output for feedback. The effectiveness of the theoretical results is validated by solving the output synchronization problem for a hybrid electrical system made up of multiple heterogeneous RC circuits, where the capacitors are switched on and off periodically. © 2014 IEEE.
Keyword ：
Cooperative output regulation Cooperative output regulation distributed observer distributed observer hybrid multi-agent systems hybrid multi-agent systems output feedback output feedback
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| GB/T 7714 | Zhang, Y. , Su, Y. , Cai, H. . Hybrid Cooperative Output Regulation of Linear Multi-Agent Systems [J]. | IEEE Transactions on Control of Network Systems , 2024 . |
| MLA | Zhang, Y. 等. "Hybrid Cooperative Output Regulation of Linear Multi-Agent Systems" . | IEEE Transactions on Control of Network Systems (2024) . |
| APA | Zhang, Y. , Su, Y. , Cai, H. . Hybrid Cooperative Output Regulation of Linear Multi-Agent Systems . | IEEE Transactions on Control of Network Systems , 2024 . |
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This article formulates and analyzes agreements of the nonlinear opinion dynamics in social networks according to switching interactions, where the agents' susceptibilities depend on current states. These switching interactions are formulated by switching directed graphs with some mild joint connectivity, and depicted by nonlinear switching model. An extended LaSalle invariance principle is established for analyzing the agreements of this switching model as well as three specialized scenarios, where the limiting equations formed by the weak* convergence are used to study the steady-state behavior so that the stability analysis is substantially simplified in the sense that the "max - min" Lyapunov function may be assumed to be constant along any bounded forward complete solutions of limiting equations. Examples and simulations are used to verify the obtained results.
Keyword ：
Agreement Agreement Analytical models Analytical models joint connectivity joint connectivity Laplace equations Laplace equations Limiting Limiting Mathematical models Mathematical models opinion dynamics opinion dynamics social networks social networks Steady-state Steady-state switched systems switched systems Switches Switches
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| GB/T 7714 | Lee, Ti-Chung , Su, Youfeng . Agreements of Nonlinear Opinion Dynamics in Switching Social Networks [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (6) : 4174-4181 . |
| MLA | Lee, Ti-Chung 等. "Agreements of Nonlinear Opinion Dynamics in Switching Social Networks" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69 . 6 (2024) : 4174-4181 . |
| APA | Lee, Ti-Chung , Su, Youfeng . Agreements of Nonlinear Opinion Dynamics in Switching Social Networks . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (6) , 4174-4181 . |
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This paper studies both synchronous and asynchronous consensus problems for linear multi-agent systems under switching topology. A novel distributed continuous-discrete observer is established by solely using the relative sampled output messages, which needs neither to store messages from neighboring agents nor estimate the information of itself and all neighbors. Based on the estimation provided by the distributed observer, a distributed output feedback control with digital form is synthesized, which allows each agent to update the value of its controller at the synchronous/asynchronous sampling instants. It is of interest to see that, for the class of chain-integrator multi-agent systems, the proposed control approach allows the sampling periods to be chosen freely and thus would be more practical in some situations from the perspective of energy saving. The theoretical results are illustrated by formation flying of spacecraft and synchronization of multiple double-integrators.
Keyword ：
distributed continuous-discrete time observer distributed continuous-discrete time observer multi-agent systems multi-agent systems output feedback output feedback switching topology switching topology synchronous/asynchronous consensus synchronous/asynchronous consensus
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| GB/T 7714 | Zhang, Ying , Su, Youfeng . Consensus of linear multi-agent systems under switching topology by sampled-data output feedback control [J]. | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2024 , 34 (12) : 8180-8204 . |
| MLA | Zhang, Ying 等. "Consensus of linear multi-agent systems under switching topology by sampled-data output feedback control" . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 34 . 12 (2024) : 8180-8204 . |
| APA | Zhang, Ying , Su, Youfeng . Consensus of linear multi-agent systems under switching topology by sampled-data output feedback control . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2024 , 34 (12) , 8180-8204 . |
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This article studies the sampled-data cooperative output regulation problem for linear multiagent systems. First, a novel adaptive distributed continuous-discrete observer is established to recover the leader's state, which, on one hand, only relies on the sampling output of the leader, and on the other hand, does not need to store the sampled message from neighbors. Second, by solely making use of the digital states of both the agent and the distributed observer, a certainty equivalence control law is synthesized featuring a time-varying feedforward gain. It is rigorously proven that, with this time-varying feedforward gain, the proposed control approach can achieve exponential convergence of the tracking errors given arbitrary time-varying leader's signal, and the upper bound for the sampling intervals is explicitly given. Third, for the class of chain-integrator multiagent systems, the proposed control approach does not need any restriction on the upper bound of the sampling intervals, and thus would be more practical in certain application scenarios from the perspective of energy saving. The performance of the proposed control approach is validated by the simulation results of inverter-based distributed generation systems.
Keyword ：
Adaptive distributed observer Adaptive distributed observer certainty equivalence certainty equivalence multiagent system multiagent system output regulation output regulation sampled-data control sampled-data control
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| GB/T 7714 | Zhang, Ying , Su, Youfeng , Cai, He . Sampled-Data Cooperative Output Regulation: An Adaptive Distributed Continuous-Discrete Observer Approach [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (2) : 1234-1241 . |
| MLA | Zhang, Ying 等. "Sampled-Data Cooperative Output Regulation: An Adaptive Distributed Continuous-Discrete Observer Approach" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 69 . 2 (2024) : 1234-1241 . |
| APA | Zhang, Ying , Su, Youfeng , Cai, He . Sampled-Data Cooperative Output Regulation: An Adaptive Distributed Continuous-Discrete Observer Approach . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2024 , 69 (2) , 1234-1241 . |
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The cooperative output regulation problem has been studied by two approaches: the distributed observer (DO) approach and the distributed internal model (DIM) approach, respectively. Each of these two approaches has its own merits and weaknesses. Recently, we presented an overview on the cooperative output regulation problem by the DO approach. This paper further surveys the cooperative output regulation problem by the DIM approach. We first summarize the constructions and the roles of two different versions of the internal models: the distributed p-copy internal model and the distributed canonical internal model. Then, we describe an integrated framework that combines the DO approach and the DIM approach. Extensions and variants of the DIM and their applications will also be highlighted.
Keyword ：
Cooperative output regulation Cooperative output regulation Distributed canonical internal model Distributed canonical internal model Distributed p-copy internal model Distributed p-copy internal model Integrated approach Integrated approach
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| GB/T 7714 | Su, Youfeng , Cai, He , Huang, Jie . An overview on the distributed internal model approach and its applications [J]. | CONTROL THEORY AND TECHNOLOGY , 2024 , 22 (3) : 345-359 . |
| MLA | Su, Youfeng 等. "An overview on the distributed internal model approach and its applications" . | CONTROL THEORY AND TECHNOLOGY 22 . 3 (2024) : 345-359 . |
| APA | Su, Youfeng , Cai, He , Huang, Jie . An overview on the distributed internal model approach and its applications . | CONTROL THEORY AND TECHNOLOGY , 2024 , 22 (3) , 345-359 . |
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| GB/T 7714 | Zhang, Ying , Su, Youfeng . Consensus of hybrid linear multi-agent systems with periodic jumps [J]. | SCIENCE CHINA-INFORMATION SCIENCES , 2023 , 66 (7) . |
| MLA | Zhang, Ying 等. "Consensus of hybrid linear multi-agent systems with periodic jumps" . | SCIENCE CHINA-INFORMATION SCIENCES 66 . 7 (2023) . |
| APA | Zhang, Ying , Su, Youfeng . Consensus of hybrid linear multi-agent systems with periodic jumps . | SCIENCE CHINA-INFORMATION SCIENCES , 2023 , 66 (7) . |
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In this study, the event-triggered asymptotic tracking control problem is considered for a class of nonholonomic systems in chained form for the time-varying reference input. First, to eliminate the ripple phenomenon caused by the imprecise compensation of the time-varying reference input, a novel time-varying event-triggered piecewise continuous control law and a triggering mechanism with a time-varying triggering function are developed. Second, an explicit integral input-to-state stable Lyapunov function is constructed for the time-varying closed-loop system regarding the sampling error as the external input. The origin of the closed-loop system is shown to be uniformly globally asymptotically stable for any global exponential decaying threshold signals, which in turn rules out the Zeno behavior. Moreover, infinitely fast sampling can be avoided by appropriately tuning the exponential convergence rate of the threshold signal. A numerical simulation example is provided to illustrate the proposed control approach.
Keyword ：
event-triggered event-triggered integral input-to-state stable integral input-to-state stable nonholonomic systems nonholonomic systems strict Lyapunov function strict Lyapunov function tracking tracking
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| GB/T 7714 | Xu, Liang , Su, Youfeng , Cai, He . Event-triggered tracking control for a class of nonholonomic systems in chained form [J]. | SCIENCE CHINA-INFORMATION SCIENCES , 2023 , 66 (7) . |
| MLA | Xu, Liang 等. "Event-triggered tracking control for a class of nonholonomic systems in chained form" . | SCIENCE CHINA-INFORMATION SCIENCES 66 . 7 (2023) . |
| APA | Xu, Liang , Su, Youfeng , Cai, He . Event-triggered tracking control for a class of nonholonomic systems in chained form . | SCIENCE CHINA-INFORMATION SCIENCES , 2023 , 66 (7) . |
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