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This paper considers the distributed output consensus problem of heterogeneous linear multi-agent networks with event-triggered communications. To handle the heterogeneity existing in the network, we first design adaptive event-based dynamic compensators for the agents. Distributed output feedback protocols, consisting of the dynamic compensators and the distributed state observers, the local controllers,...
This paper considers the distributed event-triggered consensus problem for linear multi-agent systems. Distributed event-based protocols, consisting of the event-based control laws and the triggering functions, are designed, under which the consensus error is asymptotically stable and the Zeno behavior can be excluded. Compared to the previous related works, our main contribution is that we propose...
In this paper, we investigate the consensus problem for networked underactuated thrust-propelled vehicles (TPVs) interacting on directed graphs containing a directed spanning tree. Distributed observer-based consensus protocols are proposed, which avoid the reliance on the measurements of translational velocities and accelerations. Using the input-output analysis, we present necessary and sufficient...
This paper deals with the consensus disturbance rejection problem for networked systems coordinating over uncertain communication channels. Each communication channel of the network is modeled as an ideal transmission system with the unitary transfer function perturbed by a norm-bounded uncertainty, which is particularly susceptible to describe quantization errors and communication noises. A distributed...
This paper considers the consensus problem of heterogeneous multi-agent systems with switching communication topology. By introducing adaptive coupling gains for each edge, a novel edge-based adaptive consensus protocol is designed. A significant feature of the proposed protocol is that it contains an integral action to eliminate the steady state error, which play a crucial role in achieving consensus...
In this paper, the adaptive consensus disturbance rejection problem is considered for the liner multi-agent systems under directed graphs. Based on the relative state information of the neighboring agents, the consensus protocols, including a state observer and a disturbance observer, are designed to guarantee that the consensus error goes to zero with the complete disturbance rejection. Furthermore,...
In internet of vehicles (IOV), on-board Ad hoc network between vehicles is established randomly and freely based on dedicated short range communication technology, enabling the vehicles beyond visual range of drivers and signal transmission range of on-board communication equipment to establish communication connection for transmission and sharing of information and data through single-hop and multi-hop...
In this paper, we study the robust consensus problem of a network of general discrete-time linear agents coordinating through unreliable communication channels. Two neighboring agents exchange information via a communication channel, which is modeled in this paper as an ideal transmission system subject to a multiplicative stochastic uncertainty. This uncertain channel model includes the commonly...
This paper considers the consensus problem of multi-agent systems. It is pointed out that the existing consensus protocols decouple the effects of the agent and protocol dynamics of the consensus stability from that of the communication topology. In this paper, an integrated design approach is presented, under which a novel distributed adaptive consensus protocol is proposed to achieve consensus of...
This paper considers the coordinated tracking problem of Euler-Lagrange systems over directed graphs in the presence of a dynamic leader having varying vectors of generalized coordinate derivatives. A distributed continuous algorithm is proposed, which can guarantee that the tracking error is ultimately bounded and converges to a small adjustable residual set for any communication graph containing...
In this paper, we study the robust consensus problem for a group of linear discrete-time agents to coordinate over an uncertain communication network, which is to achieve consensus against transmission errors and noises. We model the network by communication links subject to deterministic uncertainties, which can be either an additive perturbation described by some unknown transfer function or a norm...
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear agent dynamics, and an exosystem whose output is available to only a subset of agents. By using a distributed adaptive observer for the agents to estimate the exogenous signal, a distributed adaptive controller is designed. Compared with the existing...
This paper is concerned with the distributed adaptive consensus protocol design problem for linear multi-agent systems with directed graphs in the presence of a leader with nonzero but unknown control input. By introducing appropriate nonsmooth functions, a novel adaptive consensus protocol is proposed, under which leader-follower consensus can be achieved for any communication graph containing a...
This paper addresses the output feedback consensus protocol design problem for general linear multi-agent systems with directed communication graphs. By proposing a new method called adding an extra observer, two novel adaptive output feedback consensus protocols are proposed to achieve consensus for any strongly connected directed graph. The proposed adaptive output feedback protocols are fully distributed,...
This paper revisits the distributed adaptive consensus protocol in [1] when the agents are subject to external disturbances. To deal with the parameter drift phenomenon associated with the adaptive protocol in [1], we propose a novel distributed adaptive protocol by using the σ modification technique. It is shown that this novel adaptive protocol can guarantee the ultimate boundedness of both the...
This paper studies the distributed average tracking problem for multiple time-varying signals with general linear dynamics, whose reference inputs are nonzero and not available to any agents in networks. In distributed fashion, a pair of discontinuous algorithms with, respectively, static and adaptive coupling strengths are designed. Based on the relative information among the neighboring agents,...
This paper revisits the distributed adaptive consensus protocols proposed in [1], [2]. It is shown that under the adaptive protocols in [1], [2] the parameter drift phenomenon takes place when external disturbances are present, implying that those adaptive protocols are not robust with respect to external disturbances. By using the σ modification technique, distributed robust adaptive protocols are...
This paper considers the distributed robust consensus problem of multi-agent systems with Lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information...
This paper considers the distributed control problem for heterogeneous multi-agent systems with matching uncertainties and a leader whose control input might be nonzero and not available to any follower. Based on the relative states of neighboring agents, two distributed continuous controllers with, respectively, static and adaptive coupling gains, are designed, under which the tracking error of each...
This paper studies the containment control problem of uncertain multi-agent systems with multiple dynamic leaders by using an adaptive approach. It is assumed that leaders' states are predesigned to be bounded with unknown reference inputs. A new adaptive protocol, based only on the relative states of neighbors, is designed to make the states of the followers converge to the convex hull formed by...
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