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In this paper, we focus on containment control problem for discrete-time multi-agent systems (MASs). More specifically, the MASs are nonlinear systems and they are modeled by discrete-time Takagi-Sugeno (T-S) fuzzy systems. A fuzzy control protocol with a nonlinear feedback control law in each control rule is introduced, which is based on the data collected from the local agent and its neighbors....
The high number of cells employed in a Modular Multilevel Converter represents a challenge for the control hardware. Some authors have proposed the use of digital communications to simplify the assemblage and maintenance in such converters, but the latency they add has undesirable consequences for the closed-loop performance. In this paper, we propose a model-based compensation of the latency that...
Transparency and stability issues have been a major concern for haptic tele-operation. Researchers in this area have already shown that a minimum refresh rate of 1 kHz is required to achieve smoothness for human perception in force-feedback experiments. This rate requires the highest priority for real-time applications to achieve transparent haptic tele-presence. As a result, this rate leads to a...
Consensus control problem for a group of agents in a multi-agent networked system is considered. The agents are modeled by linear dynamical systems and the interconnection topology of agent's network is represented as a directed weighted graph. A decentralized approach to the synthesis of consensus control is proposed, including a synthesis of the local stabilizing controllers for each agent of networked...
Inter-laboratory comparisons are important to evaluate the capabilities of EMC test laboratories. In this contribution, we present a device for such comparisons which is able to assess the test capabilities of a laboratory according to the IEC 61000-4-3 standard. The device is intended to be tested as a normal EUT. It is equipped with appropriate detecting mechanisms that record all important parameters...
Transmission Power Control (TPC) protocols are poised for wide spread adoption in wireless sensor networks (wSNs) to address energy constraints. The link quality properties that need to be captured in order to identify the optimum transmission power (TP) have not been clearly defined and previous works have presented conflicting views on the matter. This has led to several current TPC protocols using...
Queuing Theory was ultimately applied to improve the radio resource sharing in cooperative cognitive radio networks. It indeed gives a better model of storing and transmitting packets of both Primary User (PU) and Secondary User (SU). It especially helps emulate the cooperative radio resource sharing between these two users. With such cooperation protocols, the PU allows the SU to share his spectrum;...
This paper is concerned with the model predictive control (MPC) problem for a class of unconstrained polytopic systems under the try-once-discard (TOD) protocol. Under the TOD protocol, only the sensor gaining the highest priority is allowed to transmit the data to the controller at each time instant. In this case, a switched system related to the activated sensor is constructed and, based on which,...
This paper presents an optimal control solution for celestial object landing problem, involving θ — D control technique and disturbance rejection mechanism. Based on the polar coordinate system, the control objective is to drive the probe to reach the surface of celestial object with the desired line-of-sight angle and zero velocity. θ — D technique is applied in the absence of disturbances to deal...
In this work, we use a new technique called tagged user approach (TUA) to analyze the performance of S-Aloha MAC protocol for CR users widely used in wireless communication. This new technique assumes that the channel is symmetric so that statistical equilibrium exists for all users. By adding two more realistic assumptions, we analyze the stability of the random chosen user and after extrapolate...
This paper investigates the distributed finite-time tracking consensus problem of Networked Euler-Lagrange (EL) Systems with uncertainties. Based on the homogeneous finite-time control algorithm, the discontinuous and continuous super-twisting protocols upon integral sliding mode algorithm are respectively developed to achieve finite-time tracking consensus of Networked EL Systems in spite of the...
In this paper, an approach is proposed to design synchronization protocols for a network of second-order multi-agents. We prove a series of sufficient conditions for different asymptotic coordination dynamics including synchronization, consensus and stability. These conditions are rather general, which can include some existing results as corollaries. In addition, we can employ them to construct novel...
The admissible tracking consensualization problem and the admissible containment consensualization problem of singular multi-agent systems are discussed. The sufficient and necessary condition to achieve the above two admissible consensus problems are provided. At the same time two constructive algorithms are presented to design the gain matrices of protocols. Two numerical examples are given to show...
This paper deals with the fixed-time consensus for multi-agent systems with input delay. First, finite-time stability for single system with input delay is given with the aid of Artstein model reduction method. Then, two finite-time nonlinear consensus protocols are constructed for multi-agent systems with input delay using the Lyapunov functionals. In particular, the settling-time of the second consensus...
Dynamic network conditions are inevitable in wireless sensor networks (WSNs). In multihop WSN data collection scenarios, data traffic load becomes heavier closer to the data sink. Therefore, extensive research work has been devoted to duty cycle adaptation mechanisms to meet the time-varying and/or spatially non-uniform traffic loads. In this paper, we propose a new algorithm, called Control-theoretic...
Linear formation control is the most simple formation control strategy based on relative states. However, as the number of agents becomes larger, the formation graph becomes more complex and the computation will be increased. The Cartesian product of graphs and the factorization lemma indicates that a complex, connected graph can be decomposed as a Cartesian product of smaller graphs and the system...
We introduce a new model of spatial random multiple access systems with a non-standard departure policy: all arriving messages are distributed uniformly on a finite sphere in the space, and when a successful transmission of a single message occurs, the transmitted message leaves the system together with all its neighbours within a ball of a given radius centred at the message's location. We consider...
We consider systems made of autonomous mobile robots evolving in highly dynamic discrete environment i.e., graphs where edges may appear and disappear unpredictably without any recurrence, stability, nor periodicity assumption. Robots are uniform (they execute the same algorithm), they are anonymous (they are devoid of any observable ID), they have no means allowing them to communicate together, they...
Recent studies have suggested that the stability of peer-to-peer networks may rely on persistent peers, who dwell on the network after they obtain the entire file. In the absence of such peers, one piece becomes extremely rare in the network, which leads to instability. Technological developments, however, are poised to reduce the incidence of persistent peers, giving rise to a need for a protocol...
This paper studies mean square and almost sure consensus of discrete-time second-order multi-agent systems with time-delays and multiplicative noises in the information exchange with neighbors. By using the stochastic stability theorem of discrete-time stochastic delay systems, we find sufficient conditions for mean square and almost sure consensus explicitly related to the network and control parameters...
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