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学者姓名：苏友峰
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Abstract ：
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 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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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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Abstract ：
This paper investigates the cooperative robust parallel operation problem where a linear uncertain plant is collectively driven by multiple actuators that cooperate over directed graphs. In order to address both the uncertain parameters of the plant and the communication constraints imposed by the communication network, a distributed dynamic output feedback control law is devised based on the internal model principle. It is shown that the proposed control law can effectively achieve robust output regulation of the closed-loop system while ensuring plant input sharing among the actuators. The effectiveness of the proposed control law is demonstrated through a practical example. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keyword ：
Cooperative parallel operation Cooperative parallel operation Multiple actuators Multiple actuators Robust output regulation Robust output regulation Uncertain plants Uncertain plants
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| GB/T 7714 | Xu, Liang , Su, Youfeng , Liu, Tao . Cooperative robust parallel operation of multiple actuators over directed graphs [J]. | AUTOMATICA , 2025 , 179 . |
| MLA | Xu, Liang 等. "Cooperative robust parallel operation of multiple actuators over directed graphs" . | AUTOMATICA 179 (2025) . |
| APA | Xu, Liang , Su, Youfeng , Liu, Tao . Cooperative robust parallel operation of multiple actuators over directed graphs . | AUTOMATICA , 2025 , 179 . |
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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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Abstract ：
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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Abstract ：
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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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 paper studies a dual objective control problem for an energy storage system (ESS) consisting of multiple independently-controlled energy storage units (ESUs). The power output of the entire ESS is designed to meet its reference, and meanwhile the state-of-energy (SOE) of all the ESUs maintains to be balanced. In practice, the communication among ESUs might be unreliable and thus is modeled by jointly connected switching networks. By making use of the so-called Generalized Krasovskii-LaSalle Theorem together with a novel two-step recursive analysis method, it is rigorously proven that the dual objective control problem subject to jointly connected switching networks can be solved by a consensus-based distributed control algorithm. (c) 2023 Elsevier Ltd. All rights reserved.
Keyword ：
Consensus Consensus Energy storage system Energy storage system Jointly connected switching networks Jointly connected switching networks
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| GB/T 7714 | Chen, Xiaofeng , Cai, He , Su, Youfeng . Distributed dual objective control of an energy storage system under jointly connected switching networks [J]. | AUTOMATICA , 2023 , 152 . |
| MLA | Chen, Xiaofeng 等. "Distributed dual objective control of an energy storage system under jointly connected switching networks" . | AUTOMATICA 152 (2023) . |
| APA | Chen, Xiaofeng , Cai, He , Su, Youfeng . Distributed dual objective control of an energy storage system under jointly connected switching networks . | AUTOMATICA , 2023 , 152 . |
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The solvability of certainty equivalence control problems for discrete-time multiagent systems over uniformly jointly connected switching networks relies on the stability/attractivity analysis for a class of perturbed switched systems with respect to a set of switching signals. To tackle this issue, in this article, a novel systematic and unified framework is established consisting of three key stability/attractivity results. First, the uniform global exponential stability for two dual cases of the nominal dynamics is analyzed in a unified way by checking the weak zero-state detectability from the limiting systems. Second, the uniform global exponential attractivity of the perturbed switched systems accommodating both first-order and zero-order time-varying perturbations is studied without resorting to any Lyapunov function for the entire perturbed switched systems. Third, the uniform global kappa-exponential stability for a class of cascaded switched systems is investigated. These stability/attractivity results together lay the foundation to thoroughly solve two kinds of typical certainty equivalence control problems, and also improve two specific cooperative control designs. Moreover, a relaxed dwell-time condition is considered, which makes the obtained results tolerable in the extreme case of instantaneous link failure and restoration. Finally, the control performances are shown by numerical simulations.
Keyword ：
Certainty equivalence principle Certainty equivalence principle Krasovskii-LaSalle theorem Krasovskii-LaSalle theorem multiagent systems multiagent systems perturbed switched systems perturbed switched systems weak zero-state detectability weak zero-state detectability
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| GB/T 7714 | Su, Youfeng , Lee, Ti-Chung , Cai, He et al. Certainty Equivalence Control of Discrete-Time Multiagent Systems: A Framework for Uniform Global Exponential Stability [J]. | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2023 , 68 (12) : 7660-7675 . |
| MLA | Su, Youfeng et al. "Certainty Equivalence Control of Discrete-Time Multiagent Systems: A Framework for Uniform Global Exponential Stability" . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL 68 . 12 (2023) : 7660-7675 . |
| APA | Su, Youfeng , Lee, Ti-Chung , Cai, He , Chen, Xiaofeng . Certainty Equivalence Control of Discrete-Time Multiagent Systems: A Framework for Uniform Global Exponential Stability . | IEEE TRANSACTIONS ON AUTOMATIC CONTROL , 2023 , 68 (12) , 7660-7675 . |
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