共查询到20条相似文献,搜索用时 31 毫秒
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研究二阶智能体速度不可测情况下由一阶和二阶智能体构成的异构多智能体系统有限时间一致性问题。在固定拓扑结构下,给出了异构系统实现一致性的控制协议,通过LaSalle不变集原理和齐次控制方法得到了异构系统有限时间一致性的充分条件;在切换拓扑结构下,给出了异构系统一致性的控制协议,得到了异构系统有限时间一致性的充分条件。仿真结果验证了相关结果的有效性。 相似文献
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In this article, we study the finite-time consensus in probability for stochastic multi-agent systems. First, we give the nonlinear consensus protocol for multi-agent systems with Gaussian white noise, and define the concept of finite-time consensus in probability. Second, we prove that multi-agent systems can achieve the finite-time consensus in probability under five different kinds of communication topologies by using graph theory, stochastic Lyapunov theory and probability theory. Finally, some simulation examples are provided to illustrate the effectiveness of the theoretical results. 相似文献
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《自动化学报》2014,(11)
In this paper, the finite-time consensus problems of heterogeneous multi-agent systems composed of both linear and nonlinear dynamics agents are investigated. Nonlinear consensus protocols are proposed for the heterogeneous multi-agent systems.Some sufficient conditions for the finite-time consensus are established in the leaderless and leader-following cases. The results are also extended to the case where the communication topology is directed and satisfies a detailed balance condition on coupling weights.At last, some simulation results are given to illustrate the effectiveness of the obtained theoretical results. 相似文献
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Yongfang Liu 《International journal of control》2013,86(10):1675-1686
This paper investigates the finite-time optimal formation problem of multi-agent systems on the Lie group SE(3), for the situation when the formation time and/or the cost function need to be considered. Under the condition that the formation time is given according to the task requirement, a finite-time optimal formation controller is proposed for the two-agent case to guarantee that the desired formation is achieved at the given time and the corresponding cost function is optimal. For the systems with multiple agents, the obtained finite-time optimal formation control law has second-order approximation accuracy. Finally, some numerical simulations are provided to illustrate the effectiveness of the theoretical results. 相似文献
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This article considers the finite-time consensus of multiple second-order dynamic agents without velocity measurements. A feasible protocol under which each agent can only obtain the measurements of its position relative to its neighbours is proposed. By applying the graph theory, Lyapunov theory and the homogeneous domination method, some sufficient conditions for finite-time consensus of second-order multi-agent systems are established under the different kinds of communication topologies. Some examples are presented to illustrate the effectiveness of the theoretical results. 相似文献
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Fenglan Sun 《International journal of systems science》2013,44(4):727-738
The finite-time consensus problems of second-order multi-agent system under fixed and switching network topologies are studied in this article. Based on the graph theory, LaSalle's invariance principle and the homogeneity with dilation, the finite-time consensus protocol of each agent using local information is designed. The leader-following finite-time consensus is analysed in detail. Moreover, some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results. 相似文献
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This paper aims to address finite-time consensus problems for multi-agent systems under the iterative learning control framework. Distributed iterative learning protocols are presented, which adopt the terminal laws to update the control input and are offline feedforward design approaches. It is shown that iterative learning protocols can guarantee all agents in a directed graph to reach the finite-time consensus. Furthermore, the multi-agent systems can be enabled to achieve a finite-time consensus at any desired terminal state/output if iterative learning protocols can be improved by introducing the desired terminal state/output to a portion of agents. Simulation results show that iterative learning protocols can effectively accomplish finite-time consensus objectives for both first-order and higher order multi-agent systems. 相似文献
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This paper studies the finite-time consensus for heterogeneous multi-agent systems composed of mixed-order agents over fixed and switching topologies. The control protocol of each agent using local information is designed and the detailed analysis of the finite-time consensus for fixed and switching interaction topologies is presented. The design of the finite-time consensus protocol is based on graph theory, matrix theory, and LaSalle’s invariance principle. Both theoretical studies and simulation results show the effectiveness of the proposed method and the correctness of the obtained theoretical results. 相似文献
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Liming Lee Kit Ian Kou Wentao Zhang Jinling Liang 《International journal of systems science》2016,47(10):2466-2474
In this paper, we consider finite-time control problems for linear multi-agent systems subject to exogenous constant disturbances and impulses. Some sufficient conditions are obtained to ensure the finite-time boundedness of the multi-agent systems, which could be then reduced to a feasibility problem involving linear matrix inequalities. Numerical examples are given to illustrate the results. 相似文献
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本文主要研究了多智能体系统的分布式有限时间旋转环绕控制问题,其中每个智能体跟踪一个目标且每个目标被一个智能体跟踪.首先,设计了有限时间环绕跟踪协议,该协议包含对所有目标几何中心的观测器以及目标与其几何中心最大距离的估计器.其次,给出了闭环系统实现有限时间环绕跟踪的充分条件.最后,通过仿真验证了所得结果的有效性. 相似文献
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Changchun Hua Xinglong Sun Xiu You Xinping Guan 《International journal of systems science》2017,48(2):337-346
This paper investigates the finite-time consensus problem for second-order multi-agent systems with unknown velocities and disturbances. By introducing the second-order sliding mode observer, two novel distributed finite-time protocols with only relative position measurements are proposed for the both cases with known and unknown boundaries of disturbances. On the basis of Lyapunov stability theorem and homogeneous theory, it is proved that the consensus can be achieved in finite time. Simulation examples are provided to show the effectiveness of the theoretical results. 相似文献
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带有不匹配干扰的多智能体系统有限时间积分滑模控制 总被引:1,自引:1,他引:0
针对动态多智能体系统协同控制问题,本文研究了带有不匹配干扰的二阶多智能体系统的有限时间包容控制,提出了基于非线性积分滑模控制(Integral sliding-mode control,ISMC)的复合分布式包容控制算法.首先利用Lyapunov稳定性和齐次性定理,分析了未受扰系统的有限时间包容控制问题;然后针对存在不匹配干扰的多智能体动态系统,设计非线性有限时间干扰观测器估算智能体的状态和干扰,提出基于干扰观测器的复合分布式积分滑模控制协议,结合现代控制理论和滑模控制理论,研究了带有不匹配干扰的多智能体系统有限时间包容控制问题.最后数值仿真证明了控制算法的有效性. 相似文献
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针对存在时滞的多智能体系统,提出了基于一类连续非线性函数的有限时间一致性算法.利用Lyapunov有限时间稳定性理论和矩阵理论,给出了这类算法使得系统能够在有限时间内达到一致的充分条件,进而给出了一个满足条件的有限时间一致性算法,并对该算法的收敛性进行分析,得到了系统的收敛时间.数值仿真验证了所提出算法的有效性. 相似文献
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Finite-time consensus algorithm for multi-agent systems with double-integrator dynamics 总被引:2,自引:0,他引:2
In this paper, we discuss the finite-time consensus problem for leaderless and leader–follower multi-agent systems with external disturbances. Based on the finite-time control technique, continuous distributed control algorithms are designed for these agents described by double integrators. Firstly, for the leaderless multi-agent systems, it is shown that the states of all agents can reach a consensus in finite time in the absence of disturbances. In the presence of disturbances, the steady-state errors of any two agents can reach a region in finite time. Secondly, for the leader–follower multi-agent systems, finite-time consensus algorithms are also designed based on distributed finite-time observers. Rigorous proof is given by using Lyapunov theory and graph theory. Finally, one example is employed to verify the efficiency of the proposed method. 相似文献
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The objective of this paper is to analyze the finite-time convergence of a nonlinear but continuous consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability analysis and the finite-time convergence analysis are more challenging than those under the well-studied consensus algorithms for known linear systems. For this purpose, we propose a novel comparison based tool. By using this tool, it is shown that the proposed nonlinear consensus algorithm can guarantee finite-time convergence if the directed switching interaction graph has a directed spanning tree at each time interval. Specifically, the finite-time convergence is shown by comparing the closed-loop system under the proposed consensus algorithm with some well-designed closed-loop system whose stability properties are easier to obtain. Moreover, the stability and the finite-time convergence of the closed-loop system using the proposed consensus algorithm under a (general) directed switching interaction graph can even be guaranteed by the stability and the finite-time convergence of some well-designed nonlinear closed-loop system under some special directed switching interaction graph. This provides a stimulating example for the potential applications of the proposed comparison based tool in the stability analysis of linear/nonlinear closed-loop systems by making use of known results in linear/nonlinear systems. 相似文献
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针对具有通信时延的二阶多智能体系统的有限时间一致性控制问题,分别研究了具有固定拓扑和切换拓扑网络结构情形下的二阶多智能体系统的有限时间一致性。为使多智能体系统能在有限时间内可以达到一致,引入一致性控制增益矩阵并设计了相应的基于相对位置和相对速度的时延状态误差有限时间一致性控制算法,利用系统模型转换,泛函微分方程稳定性理论和有限时间Lyapunov稳定性定理得到了使系统在有限时间内达到一致跟踪的最大时延上界值。最后,仿真实验结果验证了所得理论的正确性和有效性。 相似文献
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In this paper, we investigate the finite-time regulation problem for heterogeneous multi-agent system composed of linear first-order, second-order integrator agents and nonlinear Euler-Lagrange (EL) dynamical agents. Based on homogeneity approach, a continuous finite-time controller is designed. A distinctive feature of this work is to address the finite-time consensus problem of first-order, second-order integrator agents and nonlinear EL agents in a unified theoretical framework. Simulation results are also provided to illustrate the effectiveness of the controller. 相似文献