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In this paper, the bipartite consensus problems are investigated for multi-agent systems with double-integrator dynamics and antagonistic interactions. We consider bipartite consensus under the given protocol, which means that the absolute value of the position is the same when all the velocities of agents are 0, but the sign may be opposite. When there are no delays, the necessary and sufficient...
This paper studies the distributed coordinated tracking problem for multiple Euler-Lagrange systems (MELSs) with full-state constraints. Firstly, a distributed finite-time sliding-mode estimator (DFSE) is introduced to access precise estimations of the leader's position and velocity. Then, to guarantee the full-state constraints of MELSs, we use the barrier Lyapunov function (BLF) technique and a...
This paper studies the controllability problem for weighted digraphs with antagonistic interactions. Based on the graph partition theory, the L-equitable partition(L-EP) is proposed. Using L-equitable partition, a graph-theoretic necessary condition is proposed for the controllability of the multi-agent system and an algorithm is given for the computation of the partition. Besides, the upper bound...
This paper considers the antagonistic formation problem of second-order multi-agent systems with addictive noises and multiplicative noises over directed signed graph. Firstly, a distributed protocol is proposed, and a time-varying consensus gain is introduced to attenuate the effect of communication noises. Then, by using the tools of matrix theory and stochastic differential equation, the necessary...
This paper constructs a novel consensus framework for continuous-time multi-agent systems by using motion planning approaches. In this framework, a novel notion, specifiedtime consensus, is raised. Specified-time consensus means that the consensus of multi-agent systems is achieving with a finite settling time, which can be accurately and arbitrarily pre-specified according to task requirements. In...
This paper investigates the leader-following consensus problem of the switched multi-agent systems with general second-order dynamics. In the switched systems, we consider two subsystems, CT (continuous-time) subsystems and DT (discrete-time) subsystems. A linear distributed control algorithm is proposed for leader-following consensus in the multi-agent systems with switched dynamics. Moreover, based...
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 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...
Average-consensus filter problem is investigated for a mixed-order multi-agent system, which consists of first-order and second-order agents, and the proportional-integral consensus filter algorithms are proposed for the agents with different constant inputs. Based on generalized Nyquist stability criterion, sufficient convergence conditions are obtained for the multiagent system under a fixed, symmetric...
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...
Finite-time consensus of heterogeneous multi-agent system (MAS) with external disturbances is investigated in this paper. Distributed control algorithm is designed for the agents described by leaderless MAS. It can be shown that the state errors of any two agents reach a region in finite time with external disturbances by using Lyapunov stability analysis and algebraic graph theory. At last, one example...
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...
It is well-known that the communication among agents plays an important role in leader-following consensus. When the communication fails, it will greatly degrade the performance of the leader-following consensus. As technology develops, memory components are quite cheap. Thus it is very natural to use the information before the communication failure to enhance the robustness of leader-following consensus...
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 addresses the containment control problem for discrete-time high-order multi-agent systems with time-varying delays. Based on the distributed containment control protocol only depends on the agent's own information and its neighbors' partial information, the properties of the product of infinite nonnegative matrices and the composite of binary relation are utilized to derive a necessary...
The importance of static output feedback (OPFB) design for aircraft control, process control, and elsewhere has been well documented since the 1960s, since full state measurements are not usually available in practical systems. This problem is compounded in the case of multi-agent systems (MASs) where each agent has its own state variable and measured outputs. Therefore, this paper will focus on OPFB...
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,...
In this paper, the problem of nonlinear multi-agent flocking systems with a virtual leader is studied. To save the limited communication bandwidth, a distributed event-triggered mechanism is introduced in the multi-agent flocking framework. The event-triggered flocking model is proposed, in which both the velocity and position information of the multi-agent system are used in the event triggered mechanism...
In this paper, we investigate the leader-following rendezvous with connective preservation problem for a class of single-integrator multi-agent systems subject to a nonlinear leader system. A class of distributed nonlinear internal model is established and the equivalent cooperative stabilization problem is solved by a potential function based nonlinear distributed controller. It is interesting that...
This paper proposes a newly distributed reduced order agreement protocols based on the observer to investigate the consensus problem of high-order multi-agent systems with various agents and non-uniform delay of various time and directed communication topology. First, on the basis of Riccati equation, Lyapunov method, as well as Algebraic-Graph theory, a novel algorithm with multistep, is provided...
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