This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-ord...This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.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
This paper studies a cooperative relay transmission system within the framework of Multiple-Input Multiple-Output Radio Frequency/Underwater Optical Wireless Communication(MIMO-RF/UOWC),aiming to establish sea-based h...This paper studies a cooperative relay transmission system within the framework of Multiple-Input Multiple-Output Radio Frequency/Underwater Optical Wireless Communication(MIMO-RF/UOWC),aiming to establish sea-based heterogeneous networks.In this setup,the RF links obey κ-μ fading,while the UOWC links undergo the generalized Gamma fading with the pointing error impairments.The relay operates under an Amplify-and-Forward(AF)protocol.Additionally,the attenuation caused by the Absorption and Scattering(AaS)is considered in UOWC links.The work yields precise results for the Average Channel Capacity(ACC),Outage Probability(OP),and average Bit Error Rate(BER).Furthermore,to reveal deeper insights,bounds on the ACC and asymptotic results for the OP and average BER are derived.The findings highlight the superior performance of MIMO-RF/UOWC AF systems compared to Single-Input-Single-Output(SISO)-RF/UOWC AF systems.Various factors affecting the Diversity Gain(DG)of the MIMO-RF/UOWC AF system include the number of antennas/apertures,fading parameters of both links,and pointing error parameters.Moreover,while an increase in the AaS effect can result in significant attenuation,it does not determine the achievable DG of the proposed MIMO-RF/UOWC AF relaying system.展开更多
In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the prese...In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.展开更多
Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model ...Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.展开更多
In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number...In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.展开更多
The rapid development of military technology has prompted different types of equipment to break the limits of operational domains and emerged through complex interactions to form a vast combat system of systems(CSoS),...The rapid development of military technology has prompted different types of equipment to break the limits of operational domains and emerged through complex interactions to form a vast combat system of systems(CSoS),which can be abstracted as a heterogeneous combat network(HCN).It is of great military significance to study the disintegration strategy of combat networks to achieve the breakdown of the enemy’s CSoS.To this end,this paper proposes an integrated framework called HCN disintegration based on double deep Q-learning(HCN-DDQL).Firstly,the enemy’s CSoS is abstracted as an HCN,and an evaluation index based on the capability and attack costs of nodes is proposed.Meanwhile,a mathematical optimization model for HCN disintegration is established.Secondly,the learning environment and double deep Q-network model of HCN-DDQL are established to train the HCN’s disintegration strategy.Then,based on the learned HCN-DDQL model,an algorithm for calculating the HCN’s optimal disintegration strategy under different states is proposed.Finally,a case study is used to demonstrate the reliability and effectiveness of HCNDDQL,and the results demonstrate that HCN-DDQL can disintegrate HCNs more effectively than baseline methods.展开更多
Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback com...Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback combination of the agent's own state and neighbors' output,which can achieve exponential output consensus through intermittent communication. The controller is obtained by solving two linear matrix equations, and Zeno behavior is excluded.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
Intelligent transportation system （ITS） is proposed as the most effective way to improve road safety and traffic efficiency. However, the future of ITS for large scale transportation infrastructures deployment highl...Intelligent transportation system （ITS） is proposed as the most effective way to improve road safety and traffic efficiency. However, the future of ITS for large scale transportation infrastructures deployment highly depends on the security level of vehicular communication systems （VCS）. Security applications in VCS are fulfilled through secured group broadcast. Therefore, secure key management schemes are considered as a critical research topic for network security. In this paper, we propose a framework for providing secure key management within heterogeneous network. The seeurity managers （SMs） play a key role in the framework by retrieving the vehicle departnre infi^rmation, encapsulating block to transport keys and then executing rekeying to vehicles within the same security domain. The first part of this framework is a novel Group Key Management （GKM） scheme basing on leaving probability （LP） of vehicles to depart current VCS region. Vehicle＇s LP factor is introduced into GKM scheme to achieve a more effieient rekeying scheme and less rekeying costs. The second component of the framework using the blockchain concept to simplify the distributed key management in heterogeneous VCS domains. Extensive simulations and analysis are provided to show the effectiveness and effieiency of the proposed framework： Our GKM results demonstrate that probability-based BR reduees rekeying eost compared to the benchmark scheme, while the blockchain deereases the time eost of key transmission over heterogeneous net-works.展开更多
In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a ...In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a globally reachable node, decentralized consensus condition is obtained by applying generalized Nyquist criterion. For the systems with both communication and input delays, it is shown that the consensus condition is dependent on input delays but independent of communication delays.展开更多
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-mini...This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.展开更多
In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay fo...In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.展开更多
In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three di...In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents＇ dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader＇s dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.展开更多
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog...This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.展开更多
This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulati...This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.展开更多
In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multipl...In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the 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
Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units＇ failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A...Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units＇ failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A heterogeneous distributed network model of networked unmanned weapon systems was established. And an approach of adding relay weapon units was proposed to a- chieve fault tolerance after weapon units＇ failure due to attack or energy exhaustion. An improved ge- netic algorithm was proposed to determine and optimize the position of the relay weapon units. Simulation results in the MATLAB show that the improved resilience-based genetic algorithm can restore the network connection maximally when the number of relay units is limited, the network can keep on working after failure, and the implementation cost is controlled in a reasonable range.展开更多
基金2024 Jiangsu Province Youth Science and Technology Talent Support Project2024 Yancheng Key Research and Development Plan(Social Development)projects,“Research and Application of Multi Agent Offline Distributed Trust Perception Virtual Wireless Sensor Network Algorithm”and“Research and Application of a New Type of Fishery Ship Safety Production Monitoring Equipment”。
文摘This paper mainly focuses on the velocity-constrained consensus problem of discrete-time heterogeneous multi-agent systems with nonconvex constraints and arbitrarily switching topologies,where each agent has first-order or second-order dynamics.To solve this problem,a distributed algorithm is proposed based on a contraction operator.By employing the properties of the stochastic matrix,it is shown that all agents’position states could converge to a common point and second-order agents’velocity states could remain in corresponding nonconvex constraint sets and converge to zero as long as the joint communication topology has one directed spanning tree.Finally,the numerical simulation results are provided to verify the effectiveness of the proposed algorithms.
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 in part by the National Natural Science Foundation of China under Grant 62301272the Natural Science Research Start-up Foundation of Recruiting Talents of Nanjing University of Posts and Telecommunications under Grants NY223023 and NY223027.
文摘This paper studies a cooperative relay transmission system within the framework of Multiple-Input Multiple-Output Radio Frequency/Underwater Optical Wireless Communication(MIMO-RF/UOWC),aiming to establish sea-based heterogeneous networks.In this setup,the RF links obey κ-μ fading,while the UOWC links undergo the generalized Gamma fading with the pointing error impairments.The relay operates under an Amplify-and-Forward(AF)protocol.Additionally,the attenuation caused by the Absorption and Scattering(AaS)is considered in UOWC links.The work yields precise results for the Average Channel Capacity(ACC),Outage Probability(OP),and average Bit Error Rate(BER).Furthermore,to reveal deeper insights,bounds on the ACC and asymptotic results for the OP and average BER are derived.The findings highlight the superior performance of MIMO-RF/UOWC AF systems compared to Single-Input-Single-Output(SISO)-RF/UOWC AF systems.Various factors affecting the Diversity Gain(DG)of the MIMO-RF/UOWC AF system include the number of antennas/apertures,fading parameters of both links,and pointing error parameters.Moreover,while an increase in the AaS effect can result in significant attenuation,it does not determine the achievable DG of the proposed MIMO-RF/UOWC AF relaying system.
基金supported in part by the National Natural Science Foundation of China(Nos.U23B2036,U2013201).
文摘In this paper, distributed event-triggered performance constraint control is proposed for Heterogeneous Multiagent Systems (HMASs) including quadrotor unmanned aerial vehicles and unmanned ground vehicles in the presence of unknown external disturbances. To tackle the problem of different dynamic characteristics and facilitate the controller design, the virtual variable is introduced in the z axis of the nonlinear model of unmanned ground vehicles. By using this approach, a universal model is established for the HMAS. Moreover, a distributed disturbance observer is established to cope with the adverse influence of the external disturbances. Then, an Appointed-Time Prescribed Performance Function (ATPPF) is designed to restrict the tracking error in the predefined regions. On this basis, the distributed performance constraint controller is proposed for the HMAS based on the ATPPF and the distributed disturbance observer. Furthermore, the improved event-triggered mechanism is proposed with a dynamic threshold, which depends on the distance between the tracking error and the boundary of the ATPPF. Finally, the effectiveness of the proposed control method is verified by the comparative experiments on an HMAS.
基金supported by the Beijing Municipal Science&Technology Commission China(No.Z19111000270000)the National Natural Science Foundation of China(Nos.62203050,51774042).
文摘Within the context of ground-air cooperation,the distributed formation trajectory tracking control problems for the Heterogeneous Multi-Agent Systems(HMASs)is studied.First,considering external disturbances and model uncertainties,a graph theory-based formation control protocol is designed for the HMASs consisting of Unmanned Aerial Vehicles(UAVs)and Unmanned Ground Vehicles(UGVs).Subsequently,a formation trajectory tracking control strategy employing adaptive Fractional-Order Sliding Mode Control(FOSMC)method is developed,and a Feedback Multilayer Fuzzy Neural Network(FMFNN)is introduced to estimate the lumped uncertainties.This approach empowers HMASs to adaptively follow the expected trajectory and adopt the designated formation configuration,even in the presence of various uncertainties.Additionally,an event-triggered mechanism is incorporated into the controller to reduce the update frequency of the controller and minimize the communication exchange among the agents,and the absence of Zeno behavior is rigorously demonstrated by an integral inequality analysis.Finally,to confirm the effectiveness of the proposed formation control protocol,some numerical simulations are presented.
基金supported in part by the National Key Research and Development Program of China(2018YFA0702200)the National Natural Science Foundation of China(52377079,62203097,62373196)。
文摘In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.
基金supported by the National Natural Science Foundation of China(7200120972231011+2 种基金72071206)the Science and Technology Innovative Research Team in Higher Educational Institutions of Hunan Province(2020RC4046)the Science Foundation for Outstanding Youth Scholars of Hunan Province(2022JJ20047).
文摘The rapid development of military technology has prompted different types of equipment to break the limits of operational domains and emerged through complex interactions to form a vast combat system of systems(CSoS),which can be abstracted as a heterogeneous combat network(HCN).It is of great military significance to study the disintegration strategy of combat networks to achieve the breakdown of the enemy’s CSoS.To this end,this paper proposes an integrated framework called HCN disintegration based on double deep Q-learning(HCN-DDQL).Firstly,the enemy’s CSoS is abstracted as an HCN,and an evaluation index based on the capability and attack costs of nodes is proposed.Meanwhile,a mathematical optimization model for HCN disintegration is established.Secondly,the learning environment and double deep Q-network model of HCN-DDQL are established to train the HCN’s disintegration strategy.Then,based on the learned HCN-DDQL model,an algorithm for calculating the HCN’s optimal disintegration strategy under different states is proposed.Finally,a case study is used to demonstrate the reliability and effectiveness of HCNDDQL,and the results demonstrate that HCN-DDQL can disintegrate HCNs more effectively than baseline methods.
基金supported by the National Science and Technology Innovation 2030-Major Program(2022ZD 0115403)the National Natural Science Foundation of China(61991414)+1 种基金Chongqing Natural Science Foundation(CSTB2023NSCQJQX0018)Beijing Natural Science Foundation(L221005)
文摘Dear Editor,This letter studies output consensus problem of heterogeneous linear multiagent systems over directed graphs. A novel adaptive dynamic event-triggered controller is presented based only on the feedback combination of the agent's own state and neighbors' output,which can achieve exponential output consensus through intermittent communication. The controller is obtained by solving two linear matrix equations, and Zeno behavior is excluded.
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.
文摘Intelligent transportation system （ITS） is proposed as the most effective way to improve road safety and traffic efficiency. However, the future of ITS for large scale transportation infrastructures deployment highly depends on the security level of vehicular communication systems （VCS）. Security applications in VCS are fulfilled through secured group broadcast. Therefore, secure key management schemes are considered as a critical research topic for network security. In this paper, we propose a framework for providing secure key management within heterogeneous network. The seeurity managers （SMs） play a key role in the framework by retrieving the vehicle departnre infi^rmation, encapsulating block to transport keys and then executing rekeying to vehicles within the same security domain. The first part of this framework is a novel Group Key Management （GKM） scheme basing on leaving probability （LP） of vehicles to depart current VCS region. Vehicle＇s LP factor is introduced into GKM scheme to achieve a more effieient rekeying scheme and less rekeying costs. The second component of the framework using the blockchain concept to simplify the distributed key management in heterogeneous VCS domains. Extensive simulations and analysis are provided to show the effectiveness and effieiency of the proposed framework： Our GKM results demonstrate that probability-based BR reduees rekeying eost compared to the benchmark scheme, while the blockchain deereases the time eost of key transmission over heterogeneous net-works.
基金supported by National Natural Science Foundation of China (No. 60774016, No. 60875039, No. 60904022)the Science Foundation of Education Office of Shandong Province of China (No. J08LJ01)Internal Visiting Scholar Object for Excellence Youth Teacher of the College of Shandong Province of China
文摘In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a globally reachable node, decentralized consensus condition is obtained by applying generalized Nyquist criterion. For the systems with both communication and input delays, it is shown that the consensus condition is dependent on input delays but independent of communication delays.
基金This work was supported by Research Grants Council of Hong Kong(CityU-11205221).
文摘This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,61203126,and 61104092)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.
文摘In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems （MAS） on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents＇ dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader＇s dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.
文摘This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.
基金National Key Research and Development Plan of China(No.2017YFB1201003-020)National Natural Science Foundation of China(Nos.61663020,61661027)。
文摘This paper presents the containment analysis and design of heterogeneous linear multi-agent systems(MAS)with time-delay under the output regulation.The leaders are treated as exosystems and an modified output regulation error is designed,which can deal with more than one leader in containment control,then the containment problem will be turned into an output regulation problem.A novel analysis framework of the output regulation is proposed to design a dynamic state feedback control law for containment error and distributed observer when the agents cannot receive external system signal,which guarantees the convergence of all follower agents to the dynamic convex hull spanned by the leaders.The system stability for time-delay containment is proved by the output regulation method instead of the Lyapunov method.Finally,a numerical example is given to illustrate the validity of the theoretical results.
基金supported in part by the National Natural Science Foundation of China(Nos.62022055,61973215).
文摘In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.
基金Supported by National Basic Research Program of China （973 Program） （2010CB731800）, National Natural Science Foundation of China （60934003, 61074065）, Key Project for Natural Science Research of Hebei Education Department （ZD200908）, and the Doctor Foundation of Northeastern University at Qinhuangdao（XNB201507）
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 Aviation Science Foundation of China(2013ZC72006)
文摘Disconnection in the distributed heterogeneous networked unmanned weapon systems is caused by multiple weapon units＇ failure. The technical routes were analyzed to achieve resilience in the disconnection situation. A heterogeneous distributed network model of networked unmanned weapon systems was established. And an approach of adding relay weapon units was proposed to a- chieve fault tolerance after weapon units＇ failure due to attack or energy exhaustion. An improved ge- netic algorithm was proposed to determine and optimize the position of the relay weapon units. Simulation results in the MATLAB show that the improved resilience-based genetic algorithm can restore the network connection maximally when the number of relay units is limited, the network can keep on working after failure, and the implementation cost is controlled in a reasonable range.
