Based on the algebraic graph theory, the networked multi-agent continuous systems are investigated. Firstly, the digraph （directed graph） represents the topology of a networked system, and then a consensus convergen...Based on the algebraic graph theory, the networked multi-agent continuous systems are investigated. Firstly, the digraph （directed graph） represents the topology of a networked system, and then a consensus convergence criterion of system is proposed. Secondly, the issue of stability of multi-agent systems and the consensus convergence problem of information states are all analysed. Furthermore, the consensus equilibrium point of system is proved to be global and asymptotically reach the convex combination of initial states. Finally, two examples are taken to show the effectiveness of the results obtained in this paper.展开更多
Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonli...Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β-consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.展开更多
This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and ...This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.展开更多
This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order le...This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.展开更多
We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and fin...We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.展开更多
This paper is devoted to the study of the coordinate stability in undirected networks of dynamical agents with time-varying transmission delay. Neighbor-based rules are adopted to realize local control strategies for ...This paper is devoted to the study of the coordinate stability in undirected networks of dynamical agents with time-varying transmission delay. Neighbor-based rules are adopted to realize local control strategies for these continuous-time autonomous agents. Sufficient and necessary conditions in terms of linear matrix inequalities (LMIs) are given to guarantee the coordination of dynamical agents. Numerical simulations are given and demonstrate that our theoretical results are effective.展开更多
基金Project supported by the National Science Fund for distinguished Young Scholars of China (Grant No 60525303)the Specialized Research Fund for the Doctoral Program of High Education of China (Grant No 20050216001)
文摘Based on the algebraic graph theory, the networked multi-agent continuous systems are investigated. Firstly, the digraph （directed graph） represents the topology of a networked system, and then a consensus convergence criterion of system is proposed. Secondly, the issue of stability of multi-agent systems and the consensus convergence problem of information states are all analysed. Furthermore, the consensus equilibrium point of system is proved to be global and asymptotically reach the convex combination of initial states. Finally, two examples are taken to show the effectiveness of the results obtained in this paper.
基金supported by the National Natural Science Foundation of China (Grant No 60525303)the Natural Science Foundation of Hebei Province,China (Grant No 2006000270)
文摘Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β-consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.
基金Project supported by the National Basic Research Program of China (Grant No. 2010CB731803)the National Natural Science Foundation of China (Grant Nos. 60934003, 60974123, 61172064, and 61273181)+1 种基金the Science and Technology Commission of Shanghai Municipality, China (Grant No. 11511501202)the Chenguang Program, China (Grant No. 09CG06)
文摘This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.
基金supported by National Basic Research Program of China (973 Program) (No.2010CB731800)National Natural Science Foundation of China (Nos.60934003 and 61074065)Natural Science Foundation of Hebei Province (No.F2012203119)
文摘This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.
基金Project supported by the National Basic Research Program of China (Grant No. 2010CB731800)the National Natural Science Foundation of China (Grant Nos. 60934003 and 61074065)the Natural Science Foundation of Hebei Province,China (Grant Nos. F2012203119 and 1208085MF111)
文摘We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.
基金supported by the Taishan Scholar Construction Engineering by Shandong Government,the National Natural Science Foundation of China(61034007,61120106011,61203029,61304045,61403235)
文摘This paper is devoted to the study of the coordinate stability in undirected networks of dynamical agents with time-varying transmission delay. Neighbor-based rules are adopted to realize local control strategies for these continuous-time autonomous agents. Sufficient and necessary conditions in terms of linear matrix inequalities (LMIs) are given to guarantee the coordination of dynamical agents. Numerical simulations are given and demonstrate that our theoretical results are effective.
