Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

Xiaomei WANG; Yongduan SONG; Xudong ZHAO; Huanqing WANG; Ding WANG; Ben NIU

doi:10.1109/TSMC.2025.3540897

Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

Xiaomei WANG
, Yongduan SONG^*
, Xudong ZHAO
, Huanqing WANG
, Ding WANG
, Ben NIU

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

4 Citations (Scopus)

Abstract

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution.

Original language	English
Pages (from-to)	3532-3541
Number of pages	10
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	55
Issue number	5
Early online date	27 Feb 2025
DOIs	https://doi.org/10.1109/TSMC.2025.3540897
Publication status	Published - May 2025
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2013 IEEE.

Funding

This work was supported in part by the National Key Researchand Development Program of China under Grant 2022YFB4701400/4701401;in part by the Fundamental Research Funds for the Central Universitiesunder Grant 2024CDJYXTD-007; in part by the Natural Science Foundationof Chongqing under Grant CSTB2023NSCQ-LZX0026; and in part bythe National Natural Science Foundation of China under Grant W2411061and Grant 62376170.

Keywords

Adaptive bipartite consensus control
heterogeneous multiagent systems (MASs)
nonlinear nonaffine systems
output constraints
prescribed finite-time performance function (PFTPF)

Access to Document

10.1109/TSMC.2025.3540897

Cite this

@article{e279e934c5634fb3ac1051691de2f987,

title = "Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology",

abstract = "This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution.",

keywords = "Adaptive bipartite consensus control, heterogeneous multiagent systems (MASs), nonlinear nonaffine systems, output constraints, prescribed finite-time performance function (PFTPF)",

author = "Xiaomei WANG and Yongduan SONG and Xudong ZHAO and Huanqing WANG and Ding WANG and Ben NIU",

note = "Publisher Copyright: {\textcopyright} 2013 IEEE.",

year = "2025",

month = may,

doi = "10.1109/TSMC.2025.3540897",

language = "English",

volume = "55",

pages = "3532--3541",

journal = "IEEE Transactions on Systems, Man, and Cybernetics: Systems",

issn = "2168-2216",

publisher = "IEEE Advancing Technology for Humanity",

number = "5",

}

TY - JOUR

T1 - Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

AU - WANG, Xiaomei

AU - SONG, Yongduan

AU - ZHAO, Xudong

AU - WANG, Huanqing

AU - WANG, Ding

AU - NIU, Ben

PY - 2025/5

Y1 - 2025/5

N2 - This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution.

AB - This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution.

KW - Adaptive bipartite consensus control

KW - heterogeneous multiagent systems (MASs)

KW - nonlinear nonaffine systems

KW - output constraints

KW - prescribed finite-time performance function (PFTPF)

UR - https://www.scopus.com/pages/publications/105003044717

U2 - 10.1109/TSMC.2025.3540897

DO - 10.1109/TSMC.2025.3540897

M3 - Journal Article (refereed)

AN - SCOPUS:105003044717

SN - 2168-2216

VL - 55

SP - 3532

EP - 3541

JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems

JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems

IS - 5

ER -

Adaptive Prescribed Finite-Time Bipartite Consensus Control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

Abstract

Bibliographical note

Funding

Keywords

Access to Document

Other files and links

Fingerprint

Cite this