The scaled bipartite consensus of second-order multi-agent systems is investigated in this paper.The internal delay and distributed delay are also considered in the dynamic model of each agent,in which the delays can ...The scaled bipartite consensus of second-order multi-agent systems is investigated in this paper.The internal delay and distributed delay are also considered in the dynamic model of each agent,in which the delays can be time-varying and large.The communication topology among agents is assumed to be directed and structurally balanced.On one hand,in order to guarantee scaled bipartite consensus of second-order multi-agent systems,an adaptive periodically intermittent control protocol is applied.On the other hand,some consensus criteria in the form of matrix inequalities are obtained by using Jensen inequality,Lyapunov stability theory and graph theory.Finally,a numerical simulation example is given to demonstrate the feasibility of theoretical results.展开更多
This paper is concerned with the scaled formation control problem for multi-agent systems(MASs)over fixed and switching topologies.First,a modified resilient dynamic event-triggered(DET)mechanism involving an auxiliar...This paper is concerned with the scaled formation control problem for multi-agent systems(MASs)over fixed and switching topologies.First,a modified resilient dynamic event-triggered(DET)mechanism involving an auxiliary dynamic variable(ADV)based on sampled data is proposed.In the proposed DET mechanism,a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks.Meanwhile,the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error.Second,a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies.The scaled formation error system is modeled as a time-varying delay system.Then,several sufficient stability criteria are derived by constructing appropriate Lyapunov-Krasovskii functionals(LKFs).A co-design algorithm based on the sparrow search algorithm(SSA)is presented to design the control gains and triggering parameters jointly.Finally,numerical simulations of multiple unmanned aerial vehicles(UAVs)are presented to validate the designed control method.展开更多
基金supported by the State Key Research Project under Grant No.2018YFD0400902the National Science Foundation under Grant No.61873112+1 种基金the Education Ministry and China Mobile Science Research Foundation under Grant No.MCM20170204Jiangsu Key Construction Laboratory of IoT Application Technology under Grant Nos.190449 and 190450。
文摘The scaled bipartite consensus of second-order multi-agent systems is investigated in this paper.The internal delay and distributed delay are also considered in the dynamic model of each agent,in which the delays can be time-varying and large.The communication topology among agents is assumed to be directed and structurally balanced.On one hand,in order to guarantee scaled bipartite consensus of second-order multi-agent systems,an adaptive periodically intermittent control protocol is applied.On the other hand,some consensus criteria in the form of matrix inequalities are obtained by using Jensen inequality,Lyapunov stability theory and graph theory.Finally,a numerical simulation example is given to demonstrate the feasibility of theoretical results.
基金Project supported by the National Natural Science Foundation of China(Nos.62103097 and 61803081)the Shanghai Rising-Star Program(No.21QA1400100)the Natural Science Foundation of Shanghai,China(No.20ZR1400800)。
文摘This paper is concerned with the scaled formation control problem for multi-agent systems(MASs)over fixed and switching topologies.First,a modified resilient dynamic event-triggered(DET)mechanism involving an auxiliary dynamic variable(ADV)based on sampled data is proposed.In the proposed DET mechanism,a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks.Meanwhile,the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error.Second,a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies.The scaled formation error system is modeled as a time-varying delay system.Then,several sufficient stability criteria are derived by constructing appropriate Lyapunov-Krasovskii functionals(LKFs).A co-design algorithm based on the sparrow search algorithm(SSA)is presented to design the control gains and triggering parameters jointly.Finally,numerical simulations of multiple unmanned aerial vehicles(UAVs)are presented to validate the designed control method.
