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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 a kind of group consensus problem for fractional-order multi-agent system(MASs). For leaderless MASs, We propose a distributed consensus algorithm under a bipartite graph. Based on the given dynamics, the agents are divided into two groups, each group can reach a steady state value and the steady state values of the two groups are different. Simulation examples are presented to...
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...
The vehicle monitoring systems are consisted with more than one server. This involves problem of the information sharing and message transmission among the servers. Communication service system is mainly responsible for the problem of how to transfer and analysis of information. This paper puts forward a kind of optimization design method of communication service system for vehicle remote monitoring...
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...
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...
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...
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...
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...
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...
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...
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...
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,...
This paper proposes a filter-based distributed protocol to realize time synchronization under time-varying clock parameters. The proposed protocol is derived from a first-order controller and is fully distributed, meaning that by relying merely on its local clock readings and reading announcements from its neighbouring sensor nodes, each node in WSNs can dynamically update its virtual clock and bound...
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