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This paper addresses the consensus region design and analysis problem of fractional-order multi-agent systems, where time-invariant communication topology consisting of general linear node is considered. To achieve consensus, a fractional-order observer-type consensus protocol based on relative output measurements is proposed. The notion of consensus region for fractional-order dynamic is introduced...
We introduce an PDE approach to a multiagent system's distributed control, so that the agents could track a target and also keep a desired formation. Treating the agents as a continuum, the agents' collective dynamics are modeled by a complex-valued partial differential equation (PDE). The states of PDE is the position of the agents, namely, the real part is axis-x and the image part is axis-y. We...
This paper investigates the dynamic role assignment and collision avoidance for the discrete-time system without global information. Based on the traditional formation control protocol, the formation control algorithm with dynamic role assignment is proposed. To make each agent act efficiently, we give an assignment transformation matrix by solving an optimal problem with distributed auction algorithm...
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...
Second-order consensus in multi-agent systems is discussed based on uniquely sampled position data. A distributed linear consensus protocol, where only out-dated and current sampled position data are utilized, is designed for each agent. It is revealed that second-order consensus in such a multi-agent system cannot be reached without any out-dated sampled position data in the proposed protocol. However,...
This paper introduces an approach of clustering, based on group consensus of dynamic linear high-order multi-agent systems. The graph topology is associated with a selected multi-agent system, with each agent corresponding to one vertex. In order to reveal the cluster structure, the agents belonging to a similar cluster are expected to aggregate together. As theoretical foundation, a necessary and...
In this paper, we investigate a tracking control problem of second-order multi-agent systems. Here, the leader is active and cannot be completely measured, the interaction graph among the followers is described by jointly-connected topologies, where the topology switches vary over time and is not strongly connected in each time-intervals. We propose a neighbor-based control rule for each agent to...
This paper considers the consensus problem of leader-following multi-agent systems under the undirected and connected interaction topology. The dynamics of agents is modeled by the general form of linear system. It is assumed that only a subset of the following agents can access to the state information of the leader, all following agents can not access to the bounded reference input of the leader,...
A distributed algorithm is presented to solve the economic dispatch problem in power systems. By selecting the incremental cost of each generation unit and the incremental benefit of each elastic load as the consensus variable, the proposed algorithm is able to solve the conventional centralized economic dispatch problem in a distributed manner. The proposed algorithm is a first-order consensus protocol...
This paper considers the leader-follower consensus problem of multi-agent systems with Lipschitz nonlinear dynamics under directed communication topology. The state of the leader is only available to a subset of the followers and the input of the leader is nonzero and unknown to any of the follower. Based on relative states of neighboring agents, a distributed adaptive nonlinear protocol is proposed...
This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying...
In this paper, we study the cooperative robust output regulation problem of a class of heterogeneous minimum phase linear uncertain multi-agent systems with the arbitrary nonidentical relative degree via the output feedback control. We will propose a novel distributed observer to estimate the system state that contains two distinct parts, where the first part is of the distributed form to estimate...
A coverage control problem for continuous-time multi-agent systems under an event-triggered control framework is considered in this paper. The discrete-time coverage control algorithms reported in [1] is first extended for the continuous-time systems. Unlike the proof technique used in [1], the convergence of the continuous algorithm is proved under a Lyapunov framework. A Lyapunov function has been...
This article considers the distributed convex optimization problem over a linear multi-agent system using an adaptive dynamic protocol. The communication network topology among the agents are assumed to be undirected and fixed. The global cost function of the network is strictly convex and is given by the sum of the local cost functions associated to each agents. It is proved that under the proposed...
This paper studies a coordinated transportation problem of a group of unmanned ground vehicles (UGVs). These ground vehicles belong to two categories: master vehicles and slave vehicles. A two-step strategy is proposed to solve this problem. First, let the master vehicles move along ideal trajectories. Then, let the slave vehicles move into the area surrounded by master vehicles and move together...
In this paper, we study the finite-time leader-following control problem for a network of high-order integrator systems with a dynamic leader under general directed communication graphs. It is assumed that only relative states are available for each follower and no global information about the communication topology such as the eigenvalues of the Laplacian matrix is available for the controller design...
This paper considers the consensus problem via local static output feedback for a multi-agent system under a distributed self-triggered control framework. A distributed static output feedback control algorithm is designed by incorporating the self-triggered control strategy, where each agent computes its next triggering times based on its local information at the last triggering time. It is shown...
In this paper, a coordinated tracking problem for coupled nonholonomic mobile robots is considered. An event-triggered control strategy is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track a reference signal. The stability of the system is proved with the aid of Lyapunov techniques. Finally, a simulation example is...
In this paper, we discuss the optimal power balance and frequency stability in microgrids by imposing distributed optimization scheme on droop control. Assign each agent for each power source to take the responsibility of tuning the generation level in real time. Considering each agent only has its local information, we propose a novel distributed optimization algorithm for each agent to get the optimal...
The idea of guaranteed cost control is introduced into formation control problems for multi-agent systems. Firstly, a guaranteed cost function for the guaranteed cost formation control problem is constructed. Secondly, by the using consensus algorithm, the guaranteed cost formation control problem is transformed to the guaranteed cost consensus problem. Thirdly, a sufficient condition for the guaranteed...
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