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In this paper, we focus on the consensus problem of coupled van der Pol oscillators under linear and nonlinear protocols respectively. For the linear protocol case, a matrix spectral radius condition guaranteeing consensus is derived by means of linearization method and Floquet theory. For the case of nonlinear protocols based on Morse potential, the effects of attractive and repulsive features of...
The interaction neighborhood relationship among agents in many multi-agent systems is defined based on interaction radius r. Therefore, r plays an important role in the dynamics of these multi-agent systems. So does it also have influence on intervention methods for multi-agent systems? To answer this question, we study the impact of r on the performance of the Soft Control intervention method based...
In this paper, distributed optimization problem is investigated under a second-order multi-agent network, in which each agent is described as the double integrator. The multi-agent network is introduced for solving a large scale optimization problem by the cooperation of coupled agents. Based on the interaction over the network, the optimal solution of the problem can be obtained. Since the existing...
Cooperative guidance problems for multiple missiles with directed interaction topologies are dealt with. Firstly, a two-step guidance strategy is presented to realize cooperative simultaneous attack. In the first step, a cooperative guidance method is used for multiple missiles to reach consensus asymptotically. During the second step, the multiple missiles disconnect with each other and reach the...
A guidance law is designed for simultaneous arrival by cooperative control theory. The main contributions of research work presented in this paper include: (1) problem of multiple flight vehicles simultaneous arrival is converted to the problem of multiple flight vehicles system consensus, and (2) in addition, the problem of consensus is solving by finite time consensus technology. Method to estimate...
In this paper, a time-varying distributed convex optimization problem is studied for a multi-agent system with double-integrator dynamics over a fixed directed network. The objective is to minimize a team cost function formed by the sum of local time-varying cost functions, each of which is known to only an individual agent, through local interaction. Here the optimal point is time-varying and creates...
The present paper investigates the consensus problem of a class of Networked Multi-Agent systems (NMAS) with delayed topology, and the agent's nonlinear dynamics are different. Integrating with the Lyapunov-Krasovskii functional method, adaptive control and pinning control, the sufficient conditions of global bounded consensus are derived. The consensus criteria obtained here can make all the trajectories...
This paper investigates the distributed optimal active power control problem for microgrids with time delays in communication network. First, a novel algorithm is proposed to solve the economic dispatch problem for microgrids in a distributed manner. The effectiveness of the algorithm and the impact of the time-delay on the convergence are analyzed and strictly proved by the frequency analysis method...
A robust guaranteed cost consensus problem of discrete-time high-order uncertain linear multi-agent systems with directed graphs is studied in this paper. Firstly, the robust guaranteed cost consensus problem of high-order uncertain linear multi-agent systems is transformed to a robust guaranteed control problem of an uncertain system. Secondly, a sufficient LMI condition insuring the guaranteed cost...
This paper investigate the event-triggered consensus problem for multi-agent systems in the average consensus case. An event of each agent is triggered only when certain measurement error reaches some prescribed threshold. Then at each event time instant, each agent communicates with its neighbors, sends information to them and then updates its controller. In the event design in this work, we use...
A consensus problem of discrete-time linear multi-agent systems under a fixed topology is investigated in this note. An observer-based protocol with sampled data is introduced for solving such problems. Criteria for consensus are derived. Assume that the fixed topology has a directed spanning tree and that system matrices are stabilizable and detectable. It is found that the introduced protocol can...
In this paper, the distributed consensus problem for double integrator multi-agent systems is addressed in the light of a novel cooperative law, which relaxes the requirement on the velocity measurements of the agents. A necessary and sufficient condition is derived based on the proposed coordination law under the general directed communication topology via a real-time implementation perspective....
This paper studies convergence and convergence rate of consensus algorithms with multiplicatively and additively noisy information over networks described by time-varying directed graphs. The main difference between the problem studied in this paper and the existing results in the literature is that the multiplicative noises are introduced directly by neighboring states instead of relative states,...
This paper investigates the consensus problem of multi-agent systems which each agent ia a switched system with a fixed topology. Each subsystem of any agents is not stabilizable, the discretized Laypunov function technique is applied to design switching law satisfying dwell time. Since the states of agents can not be measurable, a distributed observer-based consensus protocol is proposed to solve...
This paper investigates the distributed consensus for second-order multi-agent systems via a novel cooperative protocol which involves only sampled position data of each agent. The proposed consensus algorithm consists of two parts: a general part with communication delay and a special part with both communication and forced delays. It is revealed that the forced delay is lower bounded by a threshold...
The problems of tracking and distributed formation for leader-following heterogeneous multi-agent systems are investigated in this paper. Firstly, without considering the variable time delay, the formation control protocols are proposed for heterogeneous multi-agent systems under switching topologies. By using Lyapunov theory, the sufficient condition that the protocol can make the followers form...
This paper investigates consensus tracking of nonlinear fractional-order multi-agent systems based on sliding mode estimator under directed network topology. To achieve consensus tracking, the control input is designed using sliding mode estimator. Then, a theorem is given to prove the effectiveness of the above control input when the demanded conditions are satisfied, where the fractional-order Lyapunov...
This paper considers the consensus problem of multi-agent systems. It is pointed out that the existing consensus protocols decouple the effects of the agent and protocol dynamics of the consensus stability from that of the communication topology. In this paper, an integrated design approach is presented, under which a novel distributed adaptive consensus protocol is proposed to achieve consensus of...
This paper considers the consensus problem of first-order discrete-time multi-agent systems with time delay by an event-based approach. The event-based controller is designed for each agent. A sufficient condition for achieving consensus is given under the assumption that the interconnection topology among agents has a directed spanning tree. Furthermore, the Zeno-like behavior for discrete-time multi-agent...
This paper aims to solve the distributed cooperative learning (DCL) problem over networks, such as data approximation, where each node only has access to local information which is produced by the same unknown pattern (map or function). Different from the traditional centralized learning (CL) scheme, DCL scheme needs all nodes in the network cooperatively learn the unknown pattern by exchanging its...
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