Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for ...Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for impulse effects. Firstly, to address the inequality constraints,the penalty method is introduced. Then, a novel optimization strategy is developed, which only requires that the team objective function be strongly convex.展开更多
With the widespread deployment of large language models(LLMs)in complex and multimodal scenarios,there is a growing demand for secure and standardized integration of external tools and data sources.The Model Context P...With the widespread deployment of large language models(LLMs)in complex and multimodal scenarios,there is a growing demand for secure and standardized integration of external tools and data sources.The Model Context Protocol(MCP),proposed by Anthropic in late 2024,has emerged as a promising framework.Designed to standardize the interaction between LLMs and their external environments,it serves as a“USB-C interface for AI”.While MCP has been rapidly adopted in the industry,systematic academic studies on its security implications remain scarce.This paper presents a comprehensive review of MCP from a security perspective.We begin by analyzing the architecture and workflow of MCP and identify potential security vulnerabilities across key stages including input processing,decision-making,client invocation,server response,and response generation.We then categorize and assess existing defense mechanisms.In addition,we design a real-world attack experiment to demonstrate the feasibility of tool description injection within an actual MCP environment.Based on the experimental results,we further highlight underexplored threat surfaces and propose future directions for securing AI agent systems powered by MCP.This paper aims to provide a structured reference framework for researchers and developers seeking to balance functionality and security in MCP-based systems.展开更多
Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so...Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.展开更多
Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the ...Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multi-agent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur.展开更多
Multi-agent systems often require good interoperability in the process of completing their assigned tasks.This paper first models the static structure and dynamic behavior of multiagent systems based on layered weight...Multi-agent systems often require good interoperability in the process of completing their assigned tasks.This paper first models the static structure and dynamic behavior of multiagent systems based on layered weighted scale-free community network and susceptible-infected-recovered(SIR)model.To solve the problem of difficulty in describing the changes in the structure and collaboration mode of the system under external factors,a two-dimensional Monte Carlo method and an improved dynamic Bayesian network are used to simulate the impact of external environmental factors on multi-agent systems.A collaborative information flow path optimization algorithm for agents under environmental factors is designed based on the Dijkstra algorithm.A method for evaluating system interoperability is designed based on simulation experiments,providing reference for the construction planning and optimization of organizational application of the system.Finally,the feasibility of the method is verified through case studies.展开更多
Agent technique is a new method that can analyze, design and realize a distributed open system. It has been used in almost every field. But if act for the real practical words in technique, it must integrate with lega...Agent technique is a new method that can analyze, design and realize a distributed open system. It has been used in almost every field. But if act for the real practical words in technique, it must integrate with legacy software, such as database system etc, and control them. This paper introduces the specification of agent software integration, ontology, instances database as implementing agent software integration with CORBA technique and takes XML, ACL as language communicating among agents.展开更多
Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, ...Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, in many cases, agent dynamics often show the characteristic of switching during the process of consensus. This paper considers consensus problem of general linear multi-agent system under both switching agent dynamics and jumping network topologies. Within the proposed multi-agent system, the agent dynamic switching is assumed to be deterministic, while the network topology jumping is considered respectively for two cases： deterministic jumping （Case 1） and Markov jumping （Case 2）. By applying the dwell time and the average dwell time techniques, a sufficient consensus and an almost sure consensus conditions are provided for these two cases, respectively. Finally, two numerical examples are presented to demonstrate the theoretical results.展开更多
Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a ...Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a sequence of different operating conditions. The priority of some loads differs in changing operating conditions. After analyzing characteristics of typical SPS, a model was developed used a grade III switchboard and an environmental prioritizing agent （EPA） algorithm. This algorithm was chosen as it is logically and physically decentralized as well as multi-agent oriented. The EPA algorithm was used to decide on the dynamic load priority, then it selected the means to best meet the maximum power supply load. The simulation results showed that higher priority loads were the first to be restored. The system satisfied all necessary constraints, demonstrating the effectiveness and validity of the proposed method.展开更多
Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance...Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.展开更多
Dear Editor,This letter focuses on the fixed-time(FXT)cluster optimization problem of first-order multi-agent systems(FOMASs)in an undirected network,in which the optimization objective is the sum of the objective fun...Dear Editor,This letter focuses on the fixed-time(FXT)cluster optimization problem of first-order multi-agent systems(FOMASs)in an undirected network,in which the optimization objective is the sum of the objective functions of all clusters.A novel piecewise power-law control protocol with cooperative-competition relations is proposed.Furthermore,a sufficient condition is obtained to ensure that the FOMASs achieve the cluster consensus within an FXT.展开更多
Dear Editor,This letter deals with the consensus of positive multi-agent systems(PMASs).A consensus protocol is proposed by introducing a finite consensus point.An error is defined as the differences in the linear com...Dear Editor,This letter deals with the consensus of positive multi-agent systems(PMASs).A consensus protocol is proposed by introducing a finite consensus point.An error is defined as the differences in the linear combination of the agent states,the agent states,and the finite consensus point.Under the consensus protocol,an error system is constructed,and it refers to the error term and the finite consensus point.A linear programming(LP)-based equation is given to remove the dependence of the finite consensus point.By virtue of the property of a directed graph,an error-independent system is obtained.展开更多
Aiming at the deficiency of conventional traffic control method, this paper proposes a new method based on multi-agent technology for traffic control. Different from many existing methods, this paper distinguishes tra...Aiming at the deficiency of conventional traffic control method, this paper proposes a new method based on multi-agent technology for traffic control. Different from many existing methods, this paper distinguishes traffic control on the basis of the agent technology from conventional traffic control method. The composition and structure of a multi-agent system （MAS） is first discussed. Then, the step-coordination strategies of intersection-agent, segment-agent, and area-agent are put forward. The advantages of the algorithm are demonstrated by a simulation study.展开更多
Multi-living agent system （MLAS） is a new concept in the field of complex system research, which is peculiarly suitable for the design and analysis of a complex information system in a serious confrontation and tigh...Multi-living agent system （MLAS） is a new concept in the field of complex system research, which is peculiarly suitable for the design and analysis of a complex information system in a serious confrontation and tight constraint environment. However, the universal method to quantitatively measure the living degree of an MLAS remains uncertain, which is critical to the self-organizing process. Therefore, a novel analytic hierarchy process （AHP） based method with dependent pairwise comparison matrix （PCM） for the evaluation of living degree of the MLAS is proposed, which eliminates the shortcoming of fixed PCM in traditional process. Furthermore, to avoid the annoying procedure of the consistency validation, the PCMs are appropriately reconstructed. Through an illustration of the netted radar system, the calculation detail is explicitly presented. Altogether, the advanced evaluation method successfully accomplishes the preset objective and promotes the development of the MLAS theory and AHP as well.展开更多
Rural finance is an issue concerned with rural people, improving rural financial management is important to close the relations of cadres and masses, maintain rural stability, and promote rural economic development. T...Rural finance is an issue concerned with rural people, improving rural financial management is important to close the relations of cadres and masses, maintain rural stability, and promote rural economic development. This article explained the main problems of village financial, the needs of introducing commission and agent system of ＂village-level accounting＂ for building a new socialist countryside, and the measures of improving commission and agent system of ＂village-level accounting＂.展开更多
It is impossible to plan in advance unpredictable phenomena at monitoring, diagnosis and control of industrial batch and continuous equipment and processes such as chemical composition of the raw materials, the proces...It is impossible to plan in advance unpredictable phenomena at monitoring, diagnosis and control of industrial batch and continuous equipment and processes such as chemical composition of the raw materials, the process leads to unexpected reactions and changes its parameters, etc. The agent is active, a program entity, has its own ideas how to perform the tasks of the own agenda. Agents perceive, behave ＂reasonably＂, communicate with other agents. Agents can represent equipment and operations in batch processes as recommended by the ISA $88. Jadex system is based on Java language and on FIPA org. recommendations. The description of ripening tank T406 and recipe for yogurt production in the holding of MADETA Corp. in the Czech Rep. It is described modeling and displaying of＂normal＂ and error, fault unit state of the ripening tank. Agents are within the Jadex system and describing the behavior of ripening tank T406 with state diagrams-automata and assist in diagnosing of fault states. States are described in XML language-SCXML （State Charts XML）. Jadex Control Center-JCC represents a major access point to use for operating in real time.展开更多
In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control sc...In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.展开更多
Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus...Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.展开更多
In mobile cloud computing,trust is a very important parameter in mobile cloud computing security because data storage and data processing are performed remotely in the cloud.Aiming at the security and trust management...In mobile cloud computing,trust is a very important parameter in mobile cloud computing security because data storage and data processing are performed remotely in the cloud.Aiming at the security and trust management of mobile agent system in mobile cloud computing environment,the Human Trust Mechanism(HTM)is used to study the subjective trust formation,trust propagation and trust evolution law,and the subjective trust dynamic management algorithm(MASTM)is proposed.Based on the interaction experience between the mobile agent and the execution host and the third-party recommendation information to collect the basic trust data,the public trust host selection algorithm is given.The isolated malicious host algorithm and the integrated trust degree calculation algorithm realize the function of selecting the trusted cluster and isolating the malicious host,so as to enhance the security interaction between the mobile agent and the host.Given algorithm simulation and verification were carried out to prove its feasibility and effectiveness.展开更多
In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed c...In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.展开更多
Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem o...Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.展开更多
基金supported in part by the National Natural Science Foundation of China(62276119)the Natural Science Foundation of Jiangsu Province(BK20241764)the Postgraduate Research & Practice Innovation Program of Jiangsu Province(KYCX22_2860)
文摘Dear Editor,This letter investigates predefined-time optimization problems(OPs) of multi-agent systems(MASs), where the agent of MASs is subject to inequality constraints, and the team objective function accounts for impulse effects. Firstly, to address the inequality constraints,the penalty method is introduced. Then, a novel optimization strategy is developed, which only requires that the team objective function be strongly convex.
基金supported in part by the National Natural Science Foundation of China under Grant No.62325207.
文摘With the widespread deployment of large language models(LLMs)in complex and multimodal scenarios,there is a growing demand for secure and standardized integration of external tools and data sources.The Model Context Protocol(MCP),proposed by Anthropic in late 2024,has emerged as a promising framework.Designed to standardize the interaction between LLMs and their external environments,it serves as a“USB-C interface for AI”.While MCP has been rapidly adopted in the industry,systematic academic studies on its security implications remain scarce.This paper presents a comprehensive review of MCP from a security perspective.We begin by analyzing the architecture and workflow of MCP and identify potential security vulnerabilities across key stages including input processing,decision-making,client invocation,server response,and response generation.We then categorize and assess existing defense mechanisms.In addition,we design a real-world attack experiment to demonstrate the feasibility of tool description injection within an actual MCP environment.Based on the experimental results,we further highlight underexplored threat surfaces and propose future directions for securing AI agent systems powered by MCP.This paper aims to provide a structured reference framework for researchers and developers seeking to balance functionality and security in MCP-based systems.
基金supported in part by the National Natural Science Foundation of China(62273255,62350003,62088101)the Shanghai Science and Technology Cooperation Project(22510712000,21550760900)+1 种基金the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities
文摘Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.
基金supported by the National Natural Science Foundation of China(62325304,U22B2046,62073079,62376029)the Jiangsu Provincial Scientific Research Center of Applied Mathematics(BK20233002)the China Postdoctoral Science Foundation(2023M730255,2024T171123)
文摘Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multi-agent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur.
基金supported by the Key R&D Projects in Jiangsu Province(BE2021729)the Key Primary Research Project of Primary Strengthening Program(KYZYJKKCJC23001).
文摘Multi-agent systems often require good interoperability in the process of completing their assigned tasks.This paper first models the static structure and dynamic behavior of multiagent systems based on layered weighted scale-free community network and susceptible-infected-recovered(SIR)model.To solve the problem of difficulty in describing the changes in the structure and collaboration mode of the system under external factors,a two-dimensional Monte Carlo method and an improved dynamic Bayesian network are used to simulate the impact of external environmental factors on multi-agent systems.A collaborative information flow path optimization algorithm for agents under environmental factors is designed based on the Dijkstra algorithm.A method for evaluating system interoperability is designed based on simulation experiments,providing reference for the construction planning and optimization of organizational application of the system.Finally,the feasibility of the method is verified through case studies.
基金Fund of the Vital Lab's Accessing Scholar in High School(K93-9-2001-2)
文摘Agent technique is a new method that can analyze, design and realize a distributed open system. It has been used in almost every field. But if act for the real practical words in technique, it must integrate with legacy software, such as database system etc, and control them. This paper introduces the specification of agent software integration, ontology, instances database as implementing agent software integration with CORBA technique and takes XML, ACL as language communicating among agents.
基金supported by National Natural Science Foundation of China(No.61573237)Shanghai Natural Science Fund(No.13ZR1416300)
文摘Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, in many cases, agent dynamics often show the characteristic of switching during the process of consensus. This paper considers consensus problem of general linear multi-agent system under both switching agent dynamics and jumping network topologies. Within the proposed multi-agent system, the agent dynamic switching is assumed to be deterministic, while the network topology jumping is considered respectively for two cases： deterministic jumping （Case 1） and Markov jumping （Case 2）. By applying the dwell time and the average dwell time techniques, a sufficient consensus and an almost sure consensus conditions are provided for these two cases, respectively. Finally, two numerical examples are presented to demonstrate the theoretical results.
基金Supported by the National Natural Science Foundation of China under Grant No.60704004the Fundamental Research Funds for the Central University under Grant No.HEUCFT1005
文摘Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a sequence of different operating conditions. The priority of some loads differs in changing operating conditions. After analyzing characteristics of typical SPS, a model was developed used a grade III switchboard and an environmental prioritizing agent （EPA） algorithm. This algorithm was chosen as it is logically and physically decentralized as well as multi-agent oriented. The EPA algorithm was used to decide on the dynamic load priority, then it selected the means to best meet the maximum power supply load. The simulation results showed that higher priority loads were the first to be restored. The system satisfied all necessary constraints, demonstrating the effectiveness and validity of the proposed method.
基金supported in part by the National Key Research and Development Program of China(2022YFB4701400/4701401)the National Natural Science Foundation of China(61991400,61991403,62250710167,61860206008,61933012,62273064)+1 种基金the Chongqing Outstanding Young Talents Support Program(cstc2024ycjh-bgzxm0085)CAAI-Huawei MindSpore Open Fund。
文摘Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this letter.Unlike many existing prescribed performance related works,the developed control exhibits some features.Firstly,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.
基金supported in part by the National Natural Science Foundation of China(62373231,61973201)the Fundamental Research Program of Shanxi Province(202203021211297)Shanxi Scholarship Council of China(2023-002)。
文摘Dear Editor,This letter focuses on the fixed-time(FXT)cluster optimization problem of first-order multi-agent systems(FOMASs)in an undirected network,in which the optimization objective is the sum of the objective functions of all clusters.A novel piecewise power-law control protocol with cooperative-competition relations is proposed.Furthermore,a sufficient condition is obtained to ensure that the FOMASs achieve the cluster consensus within an FXT.
基金supported by the National Nature Science Foundation of China(62073111)the Science Research Funding of Hainan University(KYQD(ZR)22180)。
文摘Dear Editor,This letter deals with the consensus of positive multi-agent systems(PMASs).A consensus protocol is proposed by introducing a finite consensus point.An error is defined as the differences in the linear combination of the agent states,the agent states,and the finite consensus point.Under the consensus protocol,an error system is constructed,and it refers to the error term and the finite consensus point.A linear programming(LP)-based equation is given to remove the dependence of the finite consensus point.By virtue of the property of a directed graph,an error-independent system is obtained.
文摘Aiming at the deficiency of conventional traffic control method, this paper proposes a new method based on multi-agent technology for traffic control. Different from many existing methods, this paper distinguishes traffic control on the basis of the agent technology from conventional traffic control method. The composition and structure of a multi-agent system （MAS） is first discussed. Then, the step-coordination strategies of intersection-agent, segment-agent, and area-agent are put forward. The advantages of the algorithm are demonstrated by a simulation study.
基金supported by the National Natural Science Foundation of China(61172176)
文摘Multi-living agent system （MLAS） is a new concept in the field of complex system research, which is peculiarly suitable for the design and analysis of a complex information system in a serious confrontation and tight constraint environment. However, the universal method to quantitatively measure the living degree of an MLAS remains uncertain, which is critical to the self-organizing process. Therefore, a novel analytic hierarchy process （AHP） based method with dependent pairwise comparison matrix （PCM） for the evaluation of living degree of the MLAS is proposed, which eliminates the shortcoming of fixed PCM in traditional process. Furthermore, to avoid the annoying procedure of the consistency validation, the PCMs are appropriately reconstructed. Through an illustration of the netted radar system, the calculation detail is explicitly presented. Altogether, the advanced evaluation method successfully accomplishes the preset objective and promotes the development of the MLAS theory and AHP as well.
基金The Stage Achievement of the Item "Theory and Policy Research on Building A New Socialist Countryside"in Heilongjiang Philosophy and Social Service Research Base (Economic of Agricultural and Rural Area) (05zd001)
文摘Rural finance is an issue concerned with rural people, improving rural financial management is important to close the relations of cadres and masses, maintain rural stability, and promote rural economic development. This article explained the main problems of village financial, the needs of introducing commission and agent system of ＂village-level accounting＂ for building a new socialist countryside, and the measures of improving commission and agent system of ＂village-level accounting＂.
文摘It is impossible to plan in advance unpredictable phenomena at monitoring, diagnosis and control of industrial batch and continuous equipment and processes such as chemical composition of the raw materials, the process leads to unexpected reactions and changes its parameters, etc. The agent is active, a program entity, has its own ideas how to perform the tasks of the own agenda. Agents perceive, behave ＂reasonably＂, communicate with other agents. Agents can represent equipment and operations in batch processes as recommended by the ISA $88. Jadex system is based on Java language and on FIPA org. recommendations. The description of ripening tank T406 and recipe for yogurt production in the holding of MADETA Corp. in the Czech Rep. It is described modeling and displaying of＂normal＂ and error, fault unit state of the ripening tank. Agents are within the Jadex system and describing the behavior of ripening tank T406 with state diagrams-automata and assist in diagnosing of fault states. States are described in XML language-SCXML （State Charts XML）. Jadex Control Center-JCC represents a major access point to use for operating in real time.
基金supported in part by the National Natural Science Foundation of Chin(61503194,61533010,61374055)the Ph.D.Programs Foundation of Ministry of Education of China(20110142110036)+6 种基金the Natural Science Foundation o Jiangsu Province(BK20131381,BK20140877)China Postdoctoral Scienc Foundation(2015M571788)Jiangsu Planned Projects for Postdoctoral Re search Funds(1402066B)the Foundation of the Key Laboratory of Marin Dynamic Simulation and Control for the Ministry of Transport(DMU)(DMU MSCKLT2016005)Jiangsu Government Scholarship for Overseas Studie(2017-037)the Key University Natural Science Research Project of Jiangsu Province(17KJA120003)the Scientific Foundation of Nanjing University of Posts and Telecommunications(NUPTSF)(NY214076)
文摘In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.
基金supported by the National High Technology Research and Development Program of China(Grant No.2011AA040103)the Research Foundationof Shanghai Institute of Technology,China(Grant No.B504)
文摘Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.
基金This work was supported by the National Natural Science Foundation of China(61772196,61472136)the Hunan Provincial Focus Social Science Fund(2016ZDB006)+2 种基金Hunan Provincial Social Science Achievement Review Committee results appraisal identification project(Xiang social assessment 2016JD05)Key Project of Hunan Provincial Social Science Achievement Review Committee(XSP 19ZD1005)The authors gratefully acknowledge the financial support provided by the Key Laboratory of Hunan Province for New Retail Virtual Reality Technology(2017TP1026).
文摘In mobile cloud computing,trust is a very important parameter in mobile cloud computing security because data storage and data processing are performed remotely in the cloud.Aiming at the security and trust management of mobile agent system in mobile cloud computing environment,the Human Trust Mechanism(HTM)is used to study the subjective trust formation,trust propagation and trust evolution law,and the subjective trust dynamic management algorithm(MASTM)is proposed.Based on the interaction experience between the mobile agent and the execution host and the third-party recommendation information to collect the basic trust data,the public trust host selection algorithm is given.The isolated malicious host algorithm and the integrated trust degree calculation algorithm realize the function of selecting the trusted cluster and isolating the malicious host,so as to enhance the security interaction between the mobile agent and the host.Given algorithm simulation and verification were carried out to prove its feasibility and effectiveness.
基金supported by the National Natural Science Foundation of China(No.61233002)the Fundamental Research Funds for the Central Universities(No.N120404019)
文摘In this paper, we focus on circle formation control of multi-agent systems （MAS） with a leader. The circle formation is achieved based on the lead-following and the artificial potential field method. A distributed control law is given to make a group of agents form a circle and consequently achieve an expected angle. Finally, simulation results show that the proposed circle formation strategies are effective.
基金supported by National Natural Science Foundation of China(Nos.61104092,61134007 and 61203147)the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.
