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In this paper, the formation tracking problem of multi-agent system via impulsive control approach is investigated, where each agent can be modeled as an identical nonlinear oscillator. The impulsive control approach is firstly applied to the study of formation tracking problem in the multi-agent system. The objective of the formation tracking problem is to design the formation tracking protocol such...
This paper considers the second-order consensus problem of discrete-time multi-agent systems over fixed and undirected network topologies. A distributed consensus protocol utilizing the current and one-step delayed position information is proposed. It is interesting to found that second-order consensus in such a discrete-time multi-agent system cannot be ensured without any one-step delayed position...
In this paper, dynamic role assignment and collision avoidance based on consensus tracking algorithm are investigated for systems with complete communication graph. First, based on the traditional consensus protocol, consensus-based control algorithm with dynamic role assignment is proposed. To make each agent reach the closest formation point, we give an efficient assignment solution by solving an...
This paper studies the synchronization problem of multi-agent systems with nonlinear dynamics in mean square. It is supposed that the measurement of relative-state is disturbed. For the nonlinear multi-agent systems, we show that the conventional consensus protocols are robust against the measurement noises which are dependent to the relative-state. Simulations are provided to demonstrate the theoretical...
In this paper, the consensus problem of a class of high order multi-agent systems is studied. We supposed the multi-agent can only exchange information only accord to a directed communication graph. By using the relative state consensus algorithm, a sufficient condition is provided for consensus achievement. Then, a new consensus protocol which using a state observer is provided. The N observer and...
The congestion control of TCP Vegas is more stable and brilliant than other TCP versions such as Westwood Plus because of the congestion control before collision in Ad Hoc networks with frequent topology changes. Nevertheless, Vegas has less competitive ability when its data flow coexists with other protocols'. In addition, it cannot make full advantage of available bandwidth to transmit packets....
Output swarm stability problems for high-order linear swarm systems with directed interaction topologies are investigated. Firstly, sufficient conditions for output swarm stability are presented, which are independent of the dimensions of Jordan blocks of the Laplacian matrix. Then, an approach is proposed to determine the absolute output motion. Moreover, it is shown that swarm systems with the same...
The consensus of double-integrator discrete-time multi-agent system is studied based on the second-order neighbors' information in this paper. The comparison between the convergence rate of second-order neighbor protocol and the one of general protocol is analyzed. Considering there exists delay in communication, the consensus condition of double-integrator discrete-time multi-agent system with delay...
This paper is devoted to the consensus problem of multi-agent systems with inherent nonlinear dynamics. To reflect the practical environment of multi-agent systems, the communication topology is assumed to switch slowly within a finite set of directed topologies restricted by an average dwell time switching signal. By taking advantage of tools from switched systems and piecewise Lyapunov functions,...
In this paper, the consensus problem of second-order multi-agent systems with nonuniform time-delays and dynamically changing topologies is studied. A linear consensus protocol with nonuniform time-delays is developed for multi-agent systems. A sufficient condition in terms of linear matrix inequalities is established to solve the consensus problems under dynamically changing topologies (even when...
This paper presents the routing recovery problem of mobile sink wireless sensor networks (mWSNs), which is caused by the sink mobility. We propose an immune orthogonal learning particle swarm optimization algorithm (IOLPSOA) based routing recovery method to build and optimize the alternative path, in order to repair the broken path and maintain the available route from the source nodes to the mobile...
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...
Impressed current cathodic protection (ICCP) technology is a common method for protecting ships and bridges from corrosion. A color touch screen is connected to ARM LPC2138 on the ICCP master control panel through serial ports. Communications between ICCP systems and the arm processor of remote terminals are realized using Modbus protocol. The touch screen is utilized for real-time online monitoring...
In this paper, distributed containment control problems of the second-order multi-agent systems under the undirected communication topology are investigated. Based on the LaSalle's Invariance Principle and the control protocols proposed in this paper, some necessary and sufficient conditions for the achievement of containment control are respectively proposed in the presence of multiple stationary...
This paper studies the mean square and almost sure consensus of discrete-time linear multi-agent systems with communication noises under Markovian switching topologies. By a sophisticated stochastic-approximation type protocol, the closed-loop dynamics of this linear multi-agent system can be transformed into a discrete-time first-order integral multi-agent system. It is proved that if all roots of...
According to the communication protocol and structure characteristic of color touch screen DOP B105, MODBUS communication protocol was adapted to establish multi-touch screen communication networks, which help realizing data link and data share between a PLC and many multi-touch screens. This system was then applied to coals blending automatic shooting control system in Jiexiu Coal Washing Factory...
A good data transmission protocol should balance energy consumption, packets collision and some other factors well. The traditional layer protocol can't sufficiently meet the complex requirement of data transmission. So a new cross-layer communication protocol is proposed to solve the balance issue. In the algorithm, a directed spanning tree routing algorithm is discussed to resolve unnecessary energy...
For second-order dynamic model of multi-vehicle system, we investigate a second-order consensus protocol for the system in the case of collecting information without time-delay. By introducing position tracking value, we propose a simple second-order consensus protocol, making the states of each vehicle converge to the given tracking values. The necessary and sufficient condition under which second-order...
For a hybrid sensor network constructing with static nodes and mobile nodes, adjusting the position of the mobile nodes can improve network coverage and target detection rate effectively. In this paper, we present the “Bidding” protocol based on probability detection model, and then propose a distributed covering algorithm DPFA (Distributed Potential Field Algorithm) for hybrid wireless sensor network...
In this paper, we mainly study finite-time input-to-state-stability (finite-time ISS) for the multi-agent systems with communication noise under switching interaction topologies, using the method of ISS, finite-time finite-time ISS-Lyapunov function.
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