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The design of Wireless Network Interface Card device driver, based on PCI bus, is the key part of WMN(Wireles Mesh Network). MIPS and uclinux based development environment, Network Interface Card device driver RT2860 oriented are designed and realized. Combining to network protocol of IEEE 802.11, this paper focuses on the initialization, opening, transmission and receive, interrupt handling of RT2860...
This paper is concerned with the consensus problem for general first-order multi-agent systems over undirected topology. Under the assumption that the topology is connected and every agent receives neighbors information with time-varying communication delay, allowable delay bound depending on the agent dynamics, topology structure and the control gain is obtained. In particular, in case of first-order...
In this paper, the consensus problem of second order multi-agent systems with disturbance is studied under heterogenous position and velocity topologies. The cases that the disturbances are generated from linear exosystems and nonlinear exosystems are considered, respectively. Linear disturbance observer and dynamic-gain-based nonlinear disturbance observer using only the velocity information of the...
This paper discusses the time synchronization issue in wireless sensor networks. An event-triggered average consensus time synchronization algorithm is proposed. This algorithm uses the average time message from one node's one-hop neighbors to update the clock parameters of the node. And it achieved acceptable synchronization accuracy. We also proposed an event-trigger mechanism to reduce the communication...
Periodic event-triggered control for the consensus problem of multi-agent systems is investigated in this paper. Triggering conditions are discussed in two cases: 1) with communication between neighbors at each verification time, 2) with communication at triggering times. Based on Lyapunov theory and algebraic graph theory, consensus conditions on the verification period and triggering condition parameters...
This technical note is aimed at studying the joint impacts of the system dynamic structure and the communication topology on the synchronization of multi-linear positive systems. Through rigorous analysis, necessary and sufficient conditions are given to guarantee the coupled systems achieving positive synchronization under the distributed control protocol, and the gain matrix designed is related...
Communication data in the communication network of the islanded micro-grid can be disturbed by many methods, such as data attack or packet loss. In order to overtake the communication data disturbance (CDD), a new hierarchical control structure is proposed in the paper. Based on the concept of cyber physical system (CPS), the control structure is divided into two layers: cyber layer and physical layer...
In this work, a method to design STIM for sensor network system is proposed. Hardware selects TMS320F28335 as main controller. A common software implementation method is also presented. Electronic spreadsheet and independent interface configuration is the key research points to realize hot-plug function. After testing, system can be used in electric transmission line leakage current and voltage detection...
This paper studies the networked estimation of the state of a linear dynamical system. The focus is on developing a distributed estimation algorithm which could achieve the same performance as the centralized ones. A communication protocol which formally describes the network topology is introduced. By performing this protocol, the sum of the information vector contributions is computed, which is...
Frequency-domain criterion on containment control for general linear multi-agent systems with time delay is studied under the directed network topology. A distributed protocol with time-invariant delay is proposed. When time-delay is an unknown constant, frequency-domain criterion on containment control of general linear multi-agent systems with delay is obtained, and an upper bound of delay is given...
This paper studies the almost sure containment via time-varying feedback for a class of stochastic nonlinear multi-agent systems. The systems in question allow serious unknowns in the nonlinearities and control coefficient. For this, a time-varying gain is incorporated to compensate the serous unknowns, where the key idea is to introduce an increasing function which is only dependent on time such...
It is a hot topic to make full use of channel resources in the case of limited hardware resources on the Internet. Channel allocation in multi-interface multi-channel nodes can effectively solve the problem. Extending the single-interface single-channel OLSR protocol to multi-interface multi-channel OLSR protocol and distributed channel negotiation on multiinterface multi-channel OLSR protocol can...
A nodes scheduling method applying for high density and large-scale WSN is put forward by using probabilistic coverage sensing model in this paper-that is the Distributed Probabilistic Coverage Sets Configuration Method (DPCS). In this method, the nodes with dense distribution are divided into several non-overlapping coverage sets by adopting distributed self-organization method. In the process of...
This paper investigates the formation control of the multi-agent with single-integrator kinematics in the plane, and presents a new method which could guarantee the agent to realize the arbitrary prescribed formation, furthermore, locations of the agents in the formation can be arbitrary arranged as what we expected. Our method is generalized as follows: Firstly, a consensus control protocol is designed,...
The distributed solving algorithms and experiments of the rendezvous problem for multiple quadrotors system are discussed in this paper. Firstly, the mathematical model of rendezvous problem is established and the distributed solution strategy based on coordinate variable is given. Secondly, the optimal control protocol based on consensus algorithm is derived. The cost function is defined, and the...
In this paper, we present an innovative quantum dialogue protocol for multiple users to get private information from each other without leaking any information. In our protocol, a semi-honest third party (TP) is introduced to assist multiple participants for exchanging their private information. Specifically, exploiting multi-particle entangled GHZ states as the information carriers, we investigate...
This paper consider the cluster formation for multiagent systems with sampled-data method. The control of cluster formation is try to make each group of the agents realize distinct complete formation. For the sake of energy saving, a sampled-data control scheme is constructed for cluster formation. Then a sufficient condition based on linear matrix inequality techniques is given for the cluster formation...
In this paper, the leader-follower consensus problem for a kind of nonlinear multi-agent systems with general directed communication topologies is studied. For this problem, the dynamics of all agents are identical and nonlinear under the strict form with time-varying exponential growth rate subject to Lipschitz condition constraints. With the aid of the observers of states, a distributed output-based...
In this paper, a new perspective on the output containment control of heterogeneous linear multi-agent systems is shown. By introducing a new neighborhood error of follower agents, the output containment control problem can be formulated into a cooperative output regulation problem. A novel dynamic compensator is provided to handle the case with multiple leaders. Applying the Riccati equation approach,...
This paper deals with the bipartite consensus of multiple agents with output saturation under the signed directed graph. First, we build the equal conditions of bipartite consensus and classical consensus. Then, as an application, we take existing conditions for classical consensus problems with output saturation to solve bipartite consensus problems with output saturation. Finally, one simulation...
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