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By introducing the fractional-order difference into the updating formulas of the velocity and position, fractional-order particle swarm optimization algorithm is proposed. The effects on the convergence rate and accuracy are analyzed, by introducing fractional-orders in the updating formulas for the velocity and position. Moreover, the linear increasing methods to adjust the fractional-orders are...
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, 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...
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...
In order to solve the problem which robot swarm isn't easy to form and maintain stable formations, a formation control algorithm based on community division and multilevel topology is proposed by introducing the ideas of hierarchical clustering and pining control. Firstly, based on the hierarchical clustering algorithm, a large group of robots is divided into some communities and a pining robot is...
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 investigates a distributed nested rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed for each agent to realize the rotating consensus. Firstly, the local state feedback guarantees the circular motion and then the distributed relative state feedback guarantees the consensus of all agents...
This paper considers the problem of distributed node-to-node consensus for general linear multi-agent systems with switched pinning links. The control goal in the present work is to make each follower track the corresponding leader asymptotically under the condition that only a small fraction of followers can sense their corresponding leaders through some switched communication channels. By using...
Most of the gravity-dropped slurry pipelines are underlaid in mountainous areas which are vulnerable to disasters, such as debris flow and landslide. The accumulation of displacement of the pipeline caused by those disasters is very likely to cause pipeline fracture. To solve this problem, a design of detection system for displacement of the pipe which is based on ZigBee wireless sensor network and...
In this paper, a novel automatic approach of computing 3D skeletons of airways is introduced, which is based on optimized double distance transform field and endpoints detection. The advanced double distance transform fields are constructed by the fast marching method (FMM). The endpoints are detected automatically combining 3D SUSAN corner detector and the local extreme value of distance from source...
This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems on digraphs. By using the universal approximation capability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is proposed. Based on graph theory and Lyapunov theory, the convergence analysis for the proposed algorithm is provided. The development in this paper is...
This paper studies distributed containment control for second-order multi-agent systems. An impulsive control algorithm without using velocity information is developed to achieve containment control with multiple leaders. Some sufficient and necessary conditions are obtained to achieve the containment control asymptotically. The final states of all followers converge into the convex hull formed by...
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...
To deal with the problems of topological structure cannot adjust adaptively, easy to trap into the local minimum and diversity losing in traditional particle swarm optimization algorithm, a newly adaptive PSO algorithm based on dynamic link matrix was proposed, which build the neighborhoods though link matrix and divide them into the sub-swarm based on feature clustering. The algorithm can adjust...
By combining three-frame-difference method with background subtraction method, an approach is proposed for rapid detection and identification of moving targets. First the background frame is achieved after decoding frame operation on video which is collected by the robotic fish platform and made into gray-level. Then the threshold determined by the OTSU algorithm is employed to transform them into...
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.
This work investigates the consensus problem of a group of nonlinear agents over a fast-switching network. The communications between agents are bidirectional and time delay exists. The topology, which specifies the communications, is assumed to be switched within a finite set of topologies, reflecting a practical fast-varying network environment. Based on the Lyapunov functional stability theory...
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