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The guaranteed performance consensus for multiple agents with Lipschitz nonlinear dynamics is investigated by using the delayed consensus protocol. Based on state errors between the one agent and the other agents, the performance function is introduced to describe the consensus regulation performance. The problems are transformed into guaranteed performance stabilization problems by using a matrix...
This paper studies the average consensus problem for a discrete-time multi-agent system with first-order dynamics, we provide the sufficient and necessary stable condition that the step-size needs to satisfy for the multi-agent systems with an iterative method, and the cause of oscillation is investigated with use of matrix diagonal and eigenvalue analysis method. Some conclusions about the largest...
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...
This paper studied the distributed adaptive time-varying formation problem for general linear multi-agent systems over a directed topology. First of all, some conditions to achieve distributed time-varying formations are given, which describe a feasible time-varying formation set. Second, a distributed adaptive algorithm is proposed for achieving fully distributed time-varying formation, which is...
In this paper, we discuss the couple-group consensus problem for heterogeneous multi-agent systems with communication and input time delays. From the perspective of the competitive relationship between agents, a novel group consensus protocol is designed which is distinctive to most of the existing works based on the cooperative networks. Specifically, we relax the restrictive assumptions existed...
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...
Graph signal processing is a framework that allows us to work with general unstructured discrete data that cannot be handled with classical Discrete signal processing. The underlying graph topology plays a crucial role in determining the definition of Fourier transform on graphs. Graph topology for a given graph signal is not always available and may also not be unique. In this paper we address the...
In this paper, a surrounding control problem for second-order agent system is investigated. A set of followers composed by the second-order agent networks is applied to surround a team of static leaders into a convex hull spanned by these followers. The problem is considered under a decentralized estimation-and-control framework by using tools from algebraic graph theory and Lyapunov stable theory...
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, 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...
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...
Estimating the graph structure plays an important role in the emerging field of signal processing on graph (SPoG). A graph acts as a filter when a signal propagates on it with the frequency response being a polynomial of the eigenvalues of the graph Laplacian matrix. In this paper, we endeavor to learn the underlying graph structure (a.k.a. graph connectivity) from stationary graph signal observations...
This paper studies the consensus problem of a first-order multi-agent system by using event-based strategy. For each agent, both of the control law and the triggering function utilize estimated combinational measurement, which is calculated based on the combinational measurement that sampled at the agent's event instant. The distributed triggering function is developed to compute these instants. Only...
This paper deals with the leader-following consensus problem for a class of second-order multi-agent systems with unknown Lipschitz nonlinear dynamics. Moreover, the control coefficients are assumed to be identical and bounded but unknown. The Nussbaum gain function technique is employed to deal with unknown the control coefficients. It is proved that the states of the multi-agent systems can achieve...
This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown...
Adaptive consensus design problems for swarm systems with Lipschitz nonlinear dynamics are investigated. An adaptive consensus protocol based on state errors is proposed to obtain adaptive consensus. By using a state decomposition method, adaptive consensus problems of a swarm system are transformed into the asymptotic stabilization problems of a reduced-order subsystem. Then, the structure property...
In this paper, impulsive containment control problem for networked harmonic oscillators is investigated with multiple leaders under directed network topology. Based on the graphic theory, matrix analysis theory and impulsive differential equation stable theory, a distributed impulsive containment control law is proposed, and the sufficient conditions which guarantee the convergence of the proposed...
This paper considers bipartite consensus of linear multi-agent systems over signed directed graphs, where both collaboration and competition coexist. The agent dynamics are distinct and can all have different dimensions. The communication graph can be time-varying and need not to be connected at each time. A distributed control law is proposed which enables the group to split into two disjoint subgroups,...
In this paper, we study the group consensus for networked Euler-Lagrange systems under a general nonsymmetric directed graph. The relationships between the interactive agents in the same group are cooperation while the relationships between the interactive agents among different group can be either cooperation or competition. Two assumptions are presented to achieve group consensus, respectively,...
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