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H∞ consensus is investigated for multi-agent systems with linear dynamics and impulsive effects in this paper. First of all, by considering the effects of distributed impulses, the model of linear multi-agent systems with impulsive effects and external disturbances has been obtained. Then, in view of the average impulsive interval and the Lyapunov stability theory, an algorithm has been given to solve...
This paper describes a new implementation of the Elastic Multicast (EM) protocol including new design enhancements for improved dynamic operation. The paper also presents additional performance data collected from emulation-based mobile network experiments. EM is a low complexity extension to Simplified Multicast Forwarding (SMF) that adds group-specific dynamic pruning of the SMF-based multicast...
Time-Sensitive Networking (TSN) is becoming more important in automotive and industrial sectors. There is no clear strategy how to use TSN to improve and migrate the established real-time protocols without excluding legacy devices. This paper presents a realistic concept to integrate TSN into automation networks. We choose Sercos as a deterministic Industrial-Ethernet protocol to be extended with...
This paper analyzes the transmission efficiency of two kinds of communication technologies: summation frame and individual frame. The abstract models for these two communication technologies using linear topology, which is the most popular topology in industrial control field, are proposed in this paper. The simulation results based on the models show that summation frame has a significant performance...
A communication protocol for fog computing should be efficient, lightweight and customizable. In this work we focus in a communication protocol for fog nodes composed of wireless sensors, which are spatially distributed autonomous sensors monitoring physical or environmental conditions. Problems with data congestion and limited physical resources are common in these networks. For the optimization...
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...
Communications within power converters is becoming increasingly important particularly with the evolution of multilevel converters having distributed control structures. In the not so distant past, communications were used primarily for reference point setting and monitoring. Currently however communication is taking on an integral role in the control of the power converters particularly those with...
Software Defined Networking (SDN) is rapidly gaining acceptance and use in terrestrial networks but little research has been done to apply it to aerial networks. This paper describes an investigation into five open-source controllers using a specific set of criteria based on the characteristics of these networks. A preliminary qualitative investigation compares the controllers based on their state...
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 leader-follower consensus problem for a kind of nonlinear multi-agent systems with general directed communication topologies is studied. For this problem, the dynamics of all agents are identical and nonlinear under the strict form with time-varying exponential growth rate subject to Lipschitz condition constraints. With the aid of the observers of states, a distributed output-based...
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 proposes a distributed hierarchical control strategy for cooperative braking control of connected vehicle platoon with a focus on the car-following interactions between vehicles. To this end, a hierarchical control framework including the leader layer and follower layer is first proposed to illustrate the cooperative mechanism. Then, a distributed hierarchical control strategy is designed...
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...
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, we present a brief overview concerning consensus of linear multi-agent systems based on event-based control, which is a basic breakthrough to study distributed coordinated control. Motivated by resource constraint in embedded microprocessor of agents, event-based control in consensus of multi-agent systems becomes a research hotspot over these years. Firstly, an investigation is made...
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 consensus error calculation of the multi-agent systems (MASs) with system noises and communication noises is considered in this paper. Each agent is modeled by a continuous-time linear time-invariant dynamics and the communication topology is described by an undirected graph. It is supposed that the agent can obtain its own state accurately and receive the state of the neighbor agent with noisy...
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 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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