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The controllability and observability of leader-following multi-agent linear systems under switching topology are considered. Unlike the existing results, the controllability and observability are analyzed in a different context. More specifically, as for the controllability problem, the admissible control input for each follower agent can only use relative and local information from its neighbors...
This paper provides observer-based consensus protocols for a group of agents modeled with LTI dynamics, under both fixed and jointly connected interaction topologies. The objective is leader-following consensus in the sense that the states of all the agents converge to that of a leader vehicle, which is also modeled as a LTI agent. Taking the information transmitted in the network as output, the observability...
Wireless sensor networks have been widely used in many important areas. Medium access control (MAC) protocols have a significant effect on the function and performance of sensor networks. Though the TDMA-based MAC protocols are inherently collision free and can rule out idle listening since nodes know when to transmit, it is difficult to change the frame size and time slot assignment due to network...
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