Due to the complexity of the real engineering environment, the arrival measurement inevitably contains outliers and leads to serious location errors. In order to eliminate the influence of the outliers effectively,thi...Due to the complexity of the real engineering environment, the arrival measurement inevitably contains outliers and leads to serious location errors. In order to eliminate the influence of the outliers effectively,this paper proposes a novel robust AE/MS source localization method using optimized M-estimate consensus sample. First, a sample subset is selected from the entire arrival set to obtain fitting model and its parameters. Second, consensus set is determined by checking the arrivals with the fitting model instantiated by the estimated model parameters. Third, optimization process is performed to further optimize the consensus set. The above steps are iterated, and the final source coordinates are obtained by using all the elements in the optimal consensus set. The novel method is validated by a pencil-lead breaks experiment. The results indicate that the novel method has better location accuracy of less than 5 mm compared to existing methods, regardless of the presence or absence of outliers. With the increase of outlier scale and outlier ratio, the location result of the proposed method is always more stable and accurate than that of the existing methods. Mine blasting experiments further demonstrate that the new method holds good prospects for engineering applications.展开更多
Continuous control protocols are extensively utilized in traditional MASs,in which information needs to be transmitted among agents consecutively,therefore resulting in excessive consumption of limited resources.To de...Continuous control protocols are extensively utilized in traditional MASs,in which information needs to be transmitted among agents consecutively,therefore resulting in excessive consumption of limited resources.To decrease the control cost,based on ISC,several LFC problems are investigated for second-order MASs without and with time delay,respectively.Firstly,an intermittent sampled controller is designed,and a sufficient and necessary condition is derived,under which state errors between the leader and all the followers approach zero asymptotically.Considering that time delay is inevitable,a new protocol is proposed to deal with the time-delay situation.The error system’s stability is analyzed using the Schur stability theorem,and sufficient and necessary conditions for LFC are obtained,which are closely associated with the coupling gain,the system parameters,and the network structure.Furthermore,for the case where the current position and velocity information are not available,a distributed protocol is designed that depends only on the sampled position information.The sufficient and necessary conditions for LFC are also given.The results show that second-order MASs can achieve the LFC if and only if the system parameters satisfy the inequalities proposed in the paper.Finally,the correctness of the obtained results is verified by numerical simulations.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 we provide a unified framework for consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with a general sampling delay. First, a stochastic bounded conse...In this paper we provide a unified framework for consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with a general sampling delay. First, a stochastic bounded consensus tracking protocol based on sampled data with a general sampling delay is presented by employing the delay decomposition technique. Then, necessary and sufficient conditions are derived for guaranteeing leader-follower multi-agent systems with measurement noises and a time-varying reference state to achieve mean square bounded consensus tracking. The obtained results cover no sampling delay, a small sampling delay and a large sampling delay as three special cases. Last, simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduce...In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.展开更多
This paper is concerned with the stochastic bounded consensus tracking problems of leader-follower multi-agent systems, where the control input of an agent can only use the information measured at the sampling instant...This paper is concerned with the stochastic bounded consensus tracking problems of leader-follower multi-agent systems, where the control input of an agent can only use the information measured at the sampling instants from its neighbours or the virtual leader with a time-varying reference state, and the measurements are corrupted by random noises. The probability limit theory and the algebra graph theory are employed to derive the necessary and sufficient conditions guaranteeing the mean square bounded consensus tracking. It is shown that the maximum allowable upper boundary of the sampling period simultaneously depends on the constant feedback gains and the network topology. Furthermore, the effects of the sampling period on the tracking performance are analysed. It turns out that from the view point of the sampling period, there is a trade-off between the tracking speed and the static tracking error. Simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
This paper studies sampled-data consensus control of a collection of unmanned surface vehicles(USV)operating in network environments with fading channels and time-varying transmission delay.The channel fading is model...This paper studies sampled-data consensus control of a collection of unmanned surface vehicles(USV)operating in network environments with fading channels and time-varying transmission delay.The channel fading is modeled as each independent stochastic process whose probability distribution is known.By considering the effects of channel fading and transmission delay from sampler to the controller,a new MUSV system model is formulated in the framework of network.With the novel established model,stability analysis is given at first,then the sampled-data consensus controller is designed,which also extends to the robust control with wave-induced disturbance.The effectiveness of the presented method is demonstrated by numerical simulation.展开更多
This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to parti...This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to partial agents based on sampled-data without velocity measurements. A sampled-data consensus tracking protocol（CTP） without velocity measurements is proposed to guarantee that double-integrator MASs track an AUABJT available to only partial agents.The eigenvalue analysis method together with the augmented matrix method is used to obtain the necessary and sufficient conditions for ABCT. A numerical example is provided to illustrate the effectiveness of theoretical results.展开更多
The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protoc...The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protocols based on sampled-data control are proposed so that each agent can track the time-varying reference state of the virtual leader. By using the delay decomposition approach, the augmented matrix method, and the frequency domain analysis, necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized. Furthermore, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.展开更多
This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which...This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy.展开更多
In this paper, sampled-data based average-consensus control is considered for networks consisting of continuous-time first-order integrator agents in a noisy distributed communication environment. The impact of the sa...In this paper, sampled-data based average-consensus control is considered for networks consisting of continuous-time first-order integrator agents in a noisy distributed communication environment. The impact of the sampling size and the number of network nodes on the system performances is analyzed. The control input of each agent can only use information measured at the sampling instants from its neighborhood rather than the complete continuous process, and the measurements of its neighbors＇ states are corrupted by random noises. By probability limit theory and the property of graph Laplacian matrix, it is shown that for a connected network, the static mean square error between the individual state and the average of the initial states of all agents can be made arbitrarily small, provided the sampling size is sufficiently small. Furthermore, by properly choosing the consensus gains, almost sure consensus can be achieved. It is worth pointing out that an uncertainty principle of Gaussian networks is obtained, which implies that in the case of white Gaussian noises, no matter what the sampling size is, the product of the steady-state and transient performance indices is always equal to or larger than a constant depending on the noise intensity, network topology and the number of network nodes.展开更多
基金the financial support provided by the National Natural Science Foundation of China (No. 41772313)Hunan Science and Technology Planning Project (No. 2019RS3001)+3 种基金the Science and Technology Innovation Program of Hunan Province (No. 2021RC1001)the National Natural Science Foundation for Young Scientists of China (No. 52104111)the Natural Science Foundation of Hunan (No. 2021JJ30819)Key Science and Technology Project of Guangxi Transportation Industry (Research on fine blasting and disaster control technology of mountain expressway tunnel)。
文摘Due to the complexity of the real engineering environment, the arrival measurement inevitably contains outliers and leads to serious location errors. In order to eliminate the influence of the outliers effectively,this paper proposes a novel robust AE/MS source localization method using optimized M-estimate consensus sample. First, a sample subset is selected from the entire arrival set to obtain fitting model and its parameters. Second, consensus set is determined by checking the arrivals with the fitting model instantiated by the estimated model parameters. Third, optimization process is performed to further optimize the consensus set. The above steps are iterated, and the final source coordinates are obtained by using all the elements in the optimal consensus set. The novel method is validated by a pencil-lead breaks experiment. The results indicate that the novel method has better location accuracy of less than 5 mm compared to existing methods, regardless of the presence or absence of outliers. With the increase of outlier scale and outlier ratio, the location result of the proposed method is always more stable and accurate than that of the existing methods. Mine blasting experiments further demonstrate that the new method holds good prospects for engineering applications.
基金supported by the National Natural Science Foundation of China under Grants 62476138 and 42375016.
文摘Continuous control protocols are extensively utilized in traditional MASs,in which information needs to be transmitted among agents consecutively,therefore resulting in excessive consumption of limited resources.To decrease the control cost,based on ISC,several LFC problems are investigated for second-order MASs without and with time delay,respectively.Firstly,an intermittent sampled controller is designed,and a sufficient and necessary condition is derived,under which state errors between the leader and all the followers approach zero asymptotically.Considering that time delay is inevitable,a new protocol is proposed to deal with the time-delay situation.The error system’s stability is analyzed using the Schur stability theorem,and sufficient and necessary conditions for LFC are obtained,which are closely associated with the coupling gain,the system parameters,and the network structure.Furthermore,for the case where the current position and velocity information are not available,a distributed protocol is designed that depends only on the sampled position information.The sufficient and necessary conditions for LFC are also given.The results show that second-order MASs can achieve the LFC if and only if the system parameters satisfy the inequalities proposed in the paper.Finally,the correctness of the obtained results is verified by numerical simulations.
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.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,60973095,60804013,and 61104092)the Fundamental Research Funds for the Central Universities,China(Grant Nos.JUSRP111A44,JUSRP21011,and JUSRP11233)+1 种基金the Foundation of State Key Laboratory of Digital Manufacturing Equipment and Technology,HUST,China(Grant No.DMETKF2010008)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘In this paper we provide a unified framework for consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with a general sampling delay. First, a stochastic bounded consensus tracking protocol based on sampled data with a general sampling delay is presented by employing the delay decomposition technique. Then, necessary and sufficient conditions are derived for guaranteeing leader-follower multi-agent systems with measurement noises and a time-varying reference state to achieve mean square bounded consensus tracking. The obtained results cover no sampling delay, a small sampling delay and a large sampling delay as three special cases. Last, simulations are provided to demonstrate the effectiveness of the theoretical results.
基金supported by the Natural Science Foundation of Zhejiang Province,China(Grant No.LY13F030005)the National Natural Science Foundation of China(Grant No.61501331)
文摘In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,60973095,60804013,and 61104092)the Fundamental Research Funds for the Central Universities,China(Grant Nos.JUSRP111A44,JUSRP21011, and JUSRP11233)+1 种基金the Foundation of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology(HUST),China(Grant No.DMETKF2010008)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘This paper is concerned with the stochastic bounded consensus tracking problems of leader-follower multi-agent systems, where the control input of an agent can only use the information measured at the sampling instants from its neighbours or the virtual leader with a time-varying reference state, and the measurements are corrupted by random noises. The probability limit theory and the algebra graph theory are employed to derive the necessary and sufficient conditions guaranteeing the mean square bounded consensus tracking. It is shown that the maximum allowable upper boundary of the sampling period simultaneously depends on the constant feedback gains and the network topology. Furthermore, the effects of the sampling period on the tracking performance are analysed. It turns out that from the view point of the sampling period, there is a trade-off between the tracking speed and the static tracking error. Simulations are provided to demonstrate the effectiveness of the theoretical results.
基金Project supported by Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission MD-IPAC-2019401National Natural Science Foundation of China under 61703072 and 61673084.
文摘This paper studies sampled-data consensus control of a collection of unmanned surface vehicles(USV)operating in network environments with fading channels and time-varying transmission delay.The channel fading is modeled as each independent stochastic process whose probability distribution is known.By considering the effects of channel fading and transmission delay from sampler to the controller,a new MUSV system model is formulated in the framework of network.With the novel established model,stability analysis is given at first,then the sampled-data consensus controller is designed,which also extends to the robust control with wave-induced disturbance.The effectiveness of the presented method is demonstrated by numerical simulation.
基金supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,61473138,and 61403168)the Fundamental Research Funds for the Central Universities of China(Grant No.JUSRP51510)
文摘This paper investigates asymptotic bounded consensus tracking（ABCT） of double-integrator multi-agent systems（MASs） with an asymptotically-unbounded-acceleration and bounded-jerk target（AUABJT） available to partial agents based on sampled-data without velocity measurements. A sampled-data consensus tracking protocol（CTP） without velocity measurements is proposed to guarantee that double-integrator MASs track an AUABJT available to only partial agents.The eigenvalue analysis method together with the augmented matrix method is used to obtain the necessary and sufficient conditions for ABCT. A numerical example is provided to illustrate the effectiveness of theoretical results.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.60874053 and 61034006)
文摘The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protocols based on sampled-data control are proposed so that each agent can track the time-varying reference state of the virtual leader. By using the delay decomposition approach, the augmented matrix method, and the frequency domain analysis, necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized. Furthermore, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,and 61403168)
文摘This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy.
基金Supported by Singapore Millennium Foundationthe National Natural Science Foundation of China (Grant Nos. 60821091, 60674308)
文摘In this paper, sampled-data based average-consensus control is considered for networks consisting of continuous-time first-order integrator agents in a noisy distributed communication environment. The impact of the sampling size and the number of network nodes on the system performances is analyzed. The control input of each agent can only use information measured at the sampling instants from its neighborhood rather than the complete continuous process, and the measurements of its neighbors＇ states are corrupted by random noises. By probability limit theory and the property of graph Laplacian matrix, it is shown that for a connected network, the static mean square error between the individual state and the average of the initial states of all agents can be made arbitrarily small, provided the sampling size is sufficiently small. Furthermore, by properly choosing the consensus gains, almost sure consensus can be achieved. It is worth pointing out that an uncertainty principle of Gaussian networks is obtained, which implies that in the case of white Gaussian noises, no matter what the sampling size is, the product of the steady-state and transient performance indices is always equal to or larger than a constant depending on the noise intensity, network topology and the number of network nodes.
