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Multi-vehicle deployment can be formulated as a cooperation formation problem using the weighted consensus method. Our objectives are that make adjacent vehicles keep the constant spacing and all vehicles approach the common velocity and acceleration. Moreover, it is preferred that vehicle platoon has fast convergence and strong robustness when disturbances occur. To achieve these goals, the third-order...
In this paper, we study the problem of tracking and encircling a moving target by agents in the 3-dimensional space. Specifically, a group of agents are driven to a regular tetrahedron formation on a spherical surface and simultaneously keep the center of this spherical formation coinciding with the target to be tracked. In the proposed method, to avoid the singularity caused by spherical parameterisations...
Overlay multicast is regarded as a promising way for distributing file or live stream during recent years. In this paper, we reinforce an optimal DAGs (directed acyclic graphs) construction algorithm by relaxing its partitioning and sorting conditions. We employ a realistic topology (CERNET2 backbone) to evaluate several typical types of optimal DAGs in terms of the underlay performance metrics. Simulation...
This paper considers a cooperative output regulation design for a class of multi-agent nonlinear systems. For this problem under undirected communication topologies, the previous studies have shown that some internal model principle based smooth distributed control law can be constructed. In this study, we show an attempt of an event-based protocol by a cooperative practical output regulation approach.
This paper researches the consensus problem for networked control system consisting of multiple simple-pendulums driven by corresponding DC motors. First, under the condition that the partial state information of the multiple simple-pendulums system is not available, we propose a consensus control protocol based on relative output feedback, which simplifies the consensus problem. At the same time,...
The Abstraction and Control of Traffic Engineered Networks (ACTN) defines the requirements, use cases, and an SDN-based architecture, relying on the concepts of network and service abstraction, detaching the network and service control from the underlying data plane. The architecture encompasses Physical Network Controllers (PNCs), responsible for specific technology and administrative domains, orchestrated...
Abstraction and Control of TE Networks (ACTN) refers to the set of virtual network operations needed to operate, control and manage large-scale multi-domain, multi-layer and multi-vendor TE networks, so as to facilitate network programmability, automation, efficient resource sharing. This paper provides scalable telemetry streaming mechanisms that describe Key Performance Indicator (KPI) telemetry...
Bluetooth Low Energy (BLE), also known as Blue-tooth Smart, is part of the Bluetooth 4.0 Core specifications, introduced in June 2010 by the Bluetooth Special Interest Group (SIG). BLE is designed as a radio standard that minimizes power consumption and it is particularly suited for low cost, low bandwidth, low power, and low complexity applications. These aspects of the standard represent the reasons...
Time-varying group formation control problems for second-order multi-agent systems with switching directed topologies are studied in this paper. All agents in the multi-agent system are divided into subgroups to form pre-defined time-varying sub-formations and the directed topology can be switching which means that group formation and switching topologies are considered together. Firstly, a time-varying...
This paper investigates the distributed fixed-time consensus tracking problem for multiple coupled harmonic oscillators under the directed topology. By adopting fast terminal sliding-mode strategies, the new distributed consensus protocols are proposed for each harmonic oscillator agent. This achieves fixed-time consensus tracking, in which the bound of settling time are independent of initial conditions...
The containment control problem for general discrete-time second-order multi-agent systems is investigated in this paper. Based on a distributed containment control algorithm with the state gain parameters in a given range, we transform the system to an equivalent error system, and then analyze the convergence of the error system by the eigenvalues of the corresponding coefficient matrix. Finally,...
This paper considers the consensus problem of heterogeneous multi-agent systems with switching communication topology. By introducing adaptive coupling gains for each edge, a novel edge-based adaptive consensus protocol is designed. A significant feature of the proposed protocol is that it contains an integral action to eliminate the steady state error, which play a crucial role in achieving consensus...
This paper investigates the collision avoidance problem in formation control. First, a collision avoidance algorithm is proposed by using the gradient-based method. Then, a collision-free consensus based formation protocol is developed for a group of second-order systems with the aid of graph theory. In particular, the formation protocol is designed only based on the relative information obtained...
This paper studies the consensus problem for discrete-time multi-agent systems with state, input and different communication delays, where the input delays can be arbitrarily large yet exactly known. Moreover, the communication delays are different for different agents and can also be arbitrarily large. A nested predictor based protocol is established to solve the problem. It is shown that both the...
This paper mainly focuses on the leader — follower exponential consensus tracking problem for lure multi-agent systems with time-delays. First, the one leader — follower consensus tracking is discussed. By the Lyapunov function and the feature of Lure nonlinear function, sufficient conditions of the one leader — follower consensus tracking in a exponential way are obtained and the corresponding static...
This paper focus on the admissible consensus problem for a class of singular discrete-time multi-agent systems. Based on graph, algebra and singular system theory, the consensus protocol of static output feedback form is proposed and designed. Sufficient and necessary conditions are obtained to solve the consensus problem for singular discrete-time multi-agent systems. The conditions depend on the...
This paper investigates the optimal consensus problems of both continuous-time and discrete-time multiagent systems based on the proposed global cost functions. Based on the LQR perspective and the the proposed global cost functions, we derive the optimal consensus protocols and the optimal topologies for both the continuous-time and discrete-time multiagent systems cases. The results shows that the...
This paper studies the fault-tolerant time-varying formation control problems for second-order multi-agent systems with directed topologies. Both bias and loss of effectiveness fault modes are considered. Firstly, a totally distributed fault-tolerant formation control protocol is presented using the adaptive updating gain. The proposed protocol is independent of any global information about the interaction...
This paper investigates stochastic containment control problems of multi-agent systems with measured noise in mean square sense. First, based on the Kalman-Bucy filtering theory, we design a proposed protocol for stochastic containment control problems based on the neighbors' information, and give a proof to check that Kalman-Bucy filtering estimation is an asymptotically unbiased estimation. Second,...
Convergence speed of the multi-agent system is usually determined by the algebraic connectivity of the communication network. By changing the network topology or getting more state information, the algebraic connectivity can increase, but it is usually fixed and may be very small, which means that it cannot be adjusted flexibly according to the requirements of the convergence speed. In order to overcome...
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