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学者姓名：苏友峰
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Abstract ：
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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In this article, the hybrid cooperative output regulation problem for linear multiagent 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. First, a novel output-based hybrid distributed observer is designed which can achieve distributed information estimation for various practical hybrid exosystems. Second, 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 multiagent systems, the simplified forms for both the hybrid distributed observer and the hybrid output feedback control law proposed in this article 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.
Keyword ：
Communication networks Communication networks Cooperative output regulation Cooperative output regulation Decentralized control Decentralized control distributed observer distributed observer Estimation Estimation hybrid multiagent systems hybrid multiagent systems Multi-agent systems Multi-agent systems Network systems Network systems Observers Observers output feedback output feedback Output feedback Output feedback Regulation Regulation Switches Switches Vehicle dynamics Vehicle dynamics
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| GB/T 7714 | Zhang, Ying , Su, Youfeng , Cai, He . Hybrid Cooperative Output Regulation of Linear Multiagent Systems [J]. | IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS , 2025 , 12 (1) : 558-570 . |
| MLA | Zhang, Ying 等. "Hybrid Cooperative Output Regulation of Linear Multiagent Systems" . | IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 12 . 1 (2025) : 558-570 . |
| APA | Zhang, Ying , Su, Youfeng , Cai, He . Hybrid Cooperative Output Regulation of Linear Multiagent Systems . | IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS , 2025 , 12 (1) , 558-570 . |
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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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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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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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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 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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| 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 paper, we consider the cooperative robust output regulation problem for a class of nonlinear multi-agent systems over jointly connected switching networks. First, by attaching each subsystem with an input driven filter, we obtain an extended system. Second, by integrating the distributed observer approach and the distributed internal model approach, we convert the cooperative output regulation problem of the original system into a distributed robust stabilisation problem of an augmented error system which is also a multi-agent system. Finally, we solve the original problem by stabilising the augmented error system via a distributed output feedback control law.
Keyword ：
Cooperative output regulation Cooperative output regulation distributed internal model distributed internal model distributed observer distributed observer nonlinear multi-agent systems nonlinear multi-agent systems switching network switching network
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| GB/T 7714 | Cai, He , Su, Youfeng , Huang, Jie . Cooperative robust output regulation for a class of nonlinear multi-agent systems over jointly connected switching networks [J]. | INTERNATIONAL JOURNAL OF CONTROL , 2023 . |
| MLA | Cai, He 等. "Cooperative robust output regulation for a class of nonlinear multi-agent systems over jointly connected switching networks" . | INTERNATIONAL JOURNAL OF CONTROL (2023) . |
| APA | Cai, He , Su, Youfeng , Huang, Jie . Cooperative robust output regulation for a class of nonlinear multi-agent systems over jointly connected switching networks . | INTERNATIONAL JOURNAL OF CONTROL , 2023 . |
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This article solves the dual objective control problem for an energy storage system by distributed aperiodic sampled-data controller under both connected static network and jointly-connected switching network. The proposed sample-and-hold controller is composed of the leaderless consensus algorithm, which aims at state-of-energy balancing, and the leader-following distributed observer, which aims at reference power tracking. By resorting to the generalized Krasovskii-LaSalle theorem, it is proven that the closed-loop system is uniformly exponentially stable using the so-called limiting solution. There are two distinguished features of the proposed control scheme. First, the designs of the leaderless consensus algorithm and the leader-following distributed observer can be accomplished independently. Second, the effectiveness of the control law can be guaranteed by properly tuning the feedback gains even for some extreme cases of drastic changes on sensing and sampling. Comprehensive simulation results are shown to examine the performance of the proposed control implement.
Keyword ：
distributed observer distributed observer energy storage system management energy storage system management leaderless/leader-following consensus leaderless/leader-following consensus networked power system networked power system sampled-data control sampled-data control
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| GB/T 7714 | Su, Youfeng , Liu, Xin , Cai, He et al. Distributed aperiodic sampled-data implement for dual objective control of energy storage systems [J]. | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2023 . |
| MLA | Su, Youfeng et al. "Distributed aperiodic sampled-data implement for dual objective control of energy storage systems" . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2023) . |
| APA | Su, Youfeng , Liu, Xin , Cai, He , Zhang, Ying , Chen, Xiaofeng . Distributed aperiodic sampled-data implement for dual objective control of energy storage systems . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2023 . |
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