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We consider almost regulated output synchronization for heterogeneous directed networks with external stochastic disturbances where agents are non-introspective (i.e. agents have no access to their own states or outputs). A purely decentralized time-invariant protocol based on a low-and-high gain method is designed for each agent to achieve almost regulated output synchronization while reducing the...
In this paper, the consensus control problem is investigated for second-order multi-agent systems encompassing mismatched disturbances. By integrating both sliding-mode control (SMC) and disturbance observer based control (DOBC) approaches together, a composite consensus control strategy is proposed. In the first step, for each agent, a nonlinear disturbance observer is developed to estimate its mismatched/matched...
We consider almost regulated output synchronization for heterogeneous directed networks with external disturbances where agents are non-introspective (i.e. agents have no access to their own states or outputs). A purely decentralized time-invariant protocol based on a low-and-high gain method is designed for each agent to achieve almost regulated output synchronization while reducing the impact of...
The objective of this paper is to develop an index that indicates how and when flocking agents become disconnected from a swarm. Each flocking agent interacts with nearby neighbor agents and determines its motion relative to the positions and velocities of the neighbor agents. The neighbor relations are dynamic and it is difficult to predict an exact motion for each of them. Our objective is to consider...
We consider spatially invariant consensus networks in which the link weights, the directed graph describing the interconnection topology, and the temporal dynamics, are all characterized by circulant matrices. We seek the best new links, subject to budget constraints, whose addition to the network maximally improves its rate of convergence to consensus. We show that the optimal circulant link creation...
This paper considers consensus problem for multi-agent systems with general linear dynamics communicating over a directed topology and proposes an event-based consensus controller which guarantees asymptotic stability along with decreasing in data transmission among agents. A co-design procedure is given to determine the parameters of the event-triggered transmission protocol and the consensus controller,...
This paper investigates the bipartite consensus for a group of agents with a leader. The interaction topology among agents is directed, weighted, signed and structurally balanced. Some sufficient and necessary conditions are derived for the bipartite consensus of the leader-following multi-agent system. Specifically, under the assumption that the interaction graph involving the leader has a spanning...
Multi-agent systems (MASs) are universal in nature, including biological, physical, and engineering systems. This paper investigates the robust consensus of a class of linear MASs with transmission noise. In detail, we develop a new framework to design an observer-based consensus protocol utilizing sampled data. That is, some sufficient conditions are derived to guarantee the existence of sampled...
This paper presents a sufficient condition for consensus of multi-agent systems whose agent dynamics are described by switched linear systems. It is shown that the sufficient condition is valid whether the communication topology is directed or undirected if the topology has a spanning tree. Distributed control strategies based on the linear matrix inequality (LMI) condition to achieve consensus are...
In this paper, we examine the learning mechanism of adaptive agents over weakly-connected graphs and reveal an interesting behavior on how information flows through such topologies. The results clarify how asymmetries in the exchange of data can mask local information at certain agents and make them totally dependent on other agents. A leader-follower relationship develops with the performance of...
We study the problem of learning constitutive features for the effective representation of graph signals, which can be considered as observations collected on different graph topologies. We propose to learn graph atoms and build graph dictionaries that provide sparse representations for classes of signals, which share common spectral characteristics but reside on the vertices of different graphs....
This paper considers formation control for multiagent systems (vehicles, robots, satellites, etc.) and is based on the work of Fax and Murray [1], which provides a link between graph theory and the formation control problem for a given communication topology. We propose a distributed controller H∞ and μ synthesis techniques that can guarantee the stability of the multi-agent system for any number...
In the presence of negative weights in communication graph, bipartite consensus is an extension of the traditional consensus problems where the communication weights are all positive. An output-based distributed control protocol is established to solve the bipartite consensus of the homogeneous multi-agent systems. Bipartite consensus problem is equivalent to a linear stabilizable and detectable problem...
In this paper, the information flow topology is regulated under the precondition that each agent can only utilize the information restricted by the physical communication channels. The objective topology is investigated under the framework of double-layer structures and is finally described by an optimal problem involving the eigenvalues on each layer. By introducing the element distance of eigenvector...
This paper addresses the leader escort control problem of multi-agent systems and discusses how the agents can be effectively separated into two groups to move symmetrically around their leader. A distributed design is given to escort the moving leader under an undirected switching graph, based on a neighbor-based state-estimation rule to estimate the leader's state and a neighbor-based escort controller...
In this paper we deal with robust synchronization problems for directed Lur'e networks subject to incrementally passive nonlinearities and incrementally sector bounded non-linearities, respectively. By making use of general algebraic connectivities of strongly connected graphs and subgraphs, sufficient synchronization conditions are obtained for diffusively interconnected identical Lur'e systems on...
The importance of choosing a suitable feature detector and descriptor to find the optimal correspondence between two sets of image features has been highlighted. In this direction, this paper presents an evaluation of some well known feature detectors and descriptors; including HARRIS-FREAK, HESSIAN-SURF, MSER-SURF, and FAST-FREAK; in the search for an optimal detector and descriptor pair that best...
In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii...
This paper studies the application of the topology decomposition technique in consensus of multi-agent systems. First, the directed communication topology is represented in the form of cascade connections of strongly connected subgraphs via structure decomposition. Then, based on this property and by means of the input-to-state stability theory, a novel approach is proposed to design consensus protocols...
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