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1.
This paper studies the distributed consensus problem for linear discrete-time multi-agent systems with delays and noises in transmission channels. Due to the presence of noises and delays, existing techniques such as the lifting technique and the stochastic Lyapunov theory are no longer applicable to the analysis of consensus. In this paper, a novel technique is introduced to overcome the difficulties induced by the delays and noises. A consensus protocol with decaying gains satisfying persistence condition is adopted. Necessary and sufficient conditions for strong consensus and mean square consensus are respectively given for non-leader–follower and leader–follower cases under a fixed topology. Under dynamically switching topologies and randomly switching topologies, sufficient conditions for strong consensus and mean square consensus are also obtained. Numerical examples are given to demonstrate the effectiveness of the proposed protocols.  相似文献   

2.
This article investigates the leader‐following consensus of nonlinear multiagent systems under semi‐Markovian switching topologies and cyber attacks. Unlike the related works, the communication channels considered herein are subjected to successful but recoverable attacks, and when the channels work well, the network topology is time‐varying and described by a semi‐Markovian switching topology. Due to the effect of attacks, the communication network is intermittently paralyzed. For the cases that the transition rates of semi‐Markovian switching topologies are completely known and partially unknown, observer‐based control protocols and sufficient conditions are proposed, respectively, to ensure the consensus of the systems in the mean square sense. Finally, simulation examples are given to illustrate the validity of the theoretical results.  相似文献   

3.
研究了一种新的基于切换拓扑的事件触发一致性协议,该协议设计了两个事件触发器,包括智能体状态演化引发的收敛事件触发器和拓扑变化引发的拓扑事件触发器,并给出了与事件触发器有关的公共Lyapunov函数的稳定性分析和理论证明,还设计了一种基于约束集的网络连通算法,用于提高网络的连通性。仿真实验结果表明,新的协议能够使得系统收敛一致,有效降低智能体控制器的更新频率,减少系统能耗,提升网络的连通效果,能为事件触发控制的后续研究提供理论支撑。  相似文献   

4.
This paper studies the mean square consensus of discrete-time linear time-invariant multi-agent systems with communication noises. A distributed consensus protocol, which is composed of the agent's own state feedback and the relative states between the agent and its neighbours, is proposed. A time-varying consensus gain a[k] is applied to attenuate the effect of noises which inherits in the inaccurate measurement of relative states with neighbours. A polynomial, namely ‘parameter polynomial’, is constructed. And its coefficients are the parameters in the feedback gain vector of the proposed protocol. It turns out that the parameter polynomial plays an important role in guaranteeing the consensus of linear multi-agent systems. By the proposed protocol, necessary and sufficient conditions for mean square consensus are presented under different topology conditions: (1) if the communication topology graph has a spanning tree and every node in the graph has at least one parent node, then the mean square consensus can be achieved if and only if ∑k = 0a[k] = ∞, ∑k = 0a2[k] < ∞ and all roots of the parameter polynomial are in the unit circle; (2) if the communication topology graph has a spanning tree and there exits one node without any parent node (the leader–follower case), then the mean square consensus can be achieved if and only if ∑k = 0a[k] = ∞, limk → ∞a[k] = 0 and all roots of the parameter polynomial are in the unit circle; (3) if the communication topology graph does not have a spanning tree, then the mean square consensus can never be achieved. Finally, one simulation example on the multiple aircrafts system is provided to validate the theoretical analysis.  相似文献   

5.
This paper addresses the distributed observer‐based consensus problem of second‐order multi‐agent systems via sampled data. Firstly, for the case of fixed topology, a velocity‐independent distributed control law is proposed by designing a distributed observer to estimate the unavailable velocity, then a sufficient and necessary condition of consensus on design parameters and sampling period is obtained by using the matrix analysis method. Secondly, for the case of stochastically switching topology, a sufficient and necessary condition of mean square consensus is also proposed and proven, and an algorithm is provided to design the parameters in the consensus protocol. Two simulation examples are given to illustrate the effectiveness of the proposed consensus algorithms. Copyright © 2012 John Wiley & Sons, Ltd.  相似文献   

6.
This paper studies the consensus problem of second‐order discrete‐time multi‐agent systems with relative‐state‐dependent noises. Directed switching topologies are considered. Firstly, for a kind of switching topology with each digraph containing a spanning tree, we give a weak consensus result on the basis of the mode‐dependent average dwell time method. Then, if all digraphs in a switching topology are strongly connected and the corresponding Laplacian matrices have a common left eigenvector for zero eigenvalue, we prove that the mean square and almost sure consensus can always be guaranteed for an arbitrary switching sequence with some constant distributed control gains, and we also give the statistic properties of the final consensus points. Numerical examples are presented to illustrate the effectiveness of our results. Copyright © 2017 John Wiley & Sons, Ltd.  相似文献   

7.
This paper investigates consensus problems of networked linear time invariant (LTI) multi‐agent systems, subject to variable network delays and switching topology. A new protocol is proposed for such systems with matrix B that has full row rank, based on stochastic, indecomposable, aperiodic (SIA) matrix and the predictive control scheme. With the predictive scheme the network delay is compensated. Consensus analysis based on the seminorm is provided. The conditions are obtained for such systems with periodic switching topology to reach consensus. The proposed protocol can deal with time‐varying delays, switching topology, and an unstable mode. The numerical examples demonstrate the effectiveness of the theoretical results.  相似文献   

8.
This article deals with the mean square consensus problem for second-order discrete-time multi-agent systems. Both cases of systems with and without time delays in Markov switching topologies are considered. With the introduced control protocols, necessary and sufficient conditions for mean square consensus of second-order multi-agent systems are derived. Under the given control protocols in Markov switching topologies, the second-order multi-agent systems can reach mean square consensus if and only if each union of the graphs corresponding to all the nodes in closed sets has a spanning tree. Finally, a simulation example is provided to illustrate the effectiveness of our theoretical results.  相似文献   

9.
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results.  相似文献   

10.
Without assuming that the mobile agents can communicate with their neighbors all the time, the consensus problem of multi‐agent systems with general linear node dynamics and a fixed directed topology is investigated. To achieve consensus, a new class of distributed protocols designed based only on the intermittent relative information are presented. By using tools from matrix analysis and switching systems theory, it is theoretically shown that the consensus in multi‐agent systems with a periodic intermittent communication and directed topology containing a spanning tree can be cast into the stability of a set of low‐dimensional switching systems. It is proved that there exists a protocol guaranteeing consensus if each agent is stabilizable and the communication rate is larger than a threshold value. Furthermore, a multi‐step intermittent consensus protocol design procedure is provided. The consensus algorithm is then extended to solve the formation control problem of linear multi‐agent systems with intermittent communication constraints as well as the consensus tracking problem with switching directed topologies. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results. Copyright © 2013 John Wiley & Sons, Ltd.  相似文献   

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