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This paper studies the distributed containment control problem of multiple rigid bodies with event-triggered controllers. An event-triggered cooperative strategy is proposed based on combinational measurements. In this framework, each agent is triggered only at its own triggering instants, which reduces the frequency of controller updates in practice. It is shown that the triggering time sequence...
Formation control problems for linear multi-agent systems with switching and directed topologies are investigated. A consensus based protocol is constructed using local neighboring information. An algorithm consisting of three steps is presented to design the formation control protocol. The stability of the proposed algorithm is proven using the piecewise Lyapunov function theory. It is obtained that...
In this work, a simple model is used to characterize the learning behaviour of humans. Based on this model, it is possible to define a similarity measure between two tasks in order to quantify skill generalisation during the learning of simple motor tasks by humans. By fully exploring this similarity measure, a sequence of tasks capable of improving the learning efficiency for both healthy subjects...
This paper deals with node-to-node consensus tracking problem for multi-agent systems (MASs) with linear dynamics and directed switching topologies. The coordination goal in the present framework is to employ some distributed control laws such that each follower can track its corresponding leader. Unlike most existing works where the relative full state information of neighboring agents are utilized,...
This paper studies the finite-time leader-following tracking problems for a group of autonomous agents modeled by second-order nonlinear dynamics under a dynamic reference leader. First, based on distributed binary measurements, a class of finite-time leader-following tracking algorithms are only requiring a single-bit quantization error relative to each neighbor. Then, by using a topology-dependent...
The bipartite consensus problem of multiple two-time scales agents over the signed digraph, where both cooperative and competitive interactions exist among the agents, is considered with a new distributed protocol. Sufficient conditions for bipartite consensus is presented in terms of easily checkable algebraic Riccati equation (ARE). Compared with the existing result on consensus of multiple two-time...
This paper proposes a new event-triggered scheme, in which each agent has various mechanisms to respectively determine when to exchange information with each of its different neighbors. This kind of event-triggered mechanism avoids two constraints in previous mechanisms: (1) simultaneous event detection; (2) synchronous information transmission to all of neighbors. Thus our proposed scheme can be...
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,...
This paper mainly investigates event-triggered tracking control problem for second-order discrete-time multi-agent systems with directed fixed and switching topologies. Event-triggered sampling control strategies are designed to reduce the frequency of actuator updating for agents with limited energies when their measurement error exceeds a threshold. For the case of fixed topology, a necessary and...
In this paper, we analyze some of our real-world deployment of face recognition (FR) systems for various applications and discuss the gaps between expectations of the user and what the system can deliver. We evaluate some of the existing algorithms with modifications for applications including FR on wearable devices (like Google Glass) for improving social interactions, monitoring of elderly people...
Formation control problems for second-order unmanned aerial vehicle (UAV) swarm systems with switching topologies to achieve the time-varying formation and the predefined time-varying formation reference are investigated. The second-order UAV swarm systems considered are not only required to achieve the specified time-varying formation but also track the predefined time-varying formation reference,...
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