Controllability and observability of multi-agent systems with heterogeneous and switching topologies

ABSTRACT

This paper focuses on controllability and observability of multi-agent systems with heterogeneous and switching topologies, where the first- and the second-order information interaction topologies are different and switching. First, based on the controllable state set, a controllability criterion is obtained in terms of the controllability matrix corresponding to the switching sequence. Next, by virtue of the subspace sequence, two necessary and sufficient algebraic conditions are established for controllability in terms of the system matrices corresponding to all the possible topologies. Furthermore, controllability is considered from the graphic perspective. It is proved that the system is controllable if the union graph of all the possible topologies is controllable. With respect to observability, two sufficient and necessary conditions are derived by taking advantage of the system matrices and the corresponding invariant subspace, respectively. Finally, some simulation examples are worked out to illustrate the theoretical results.     

An ideal topology type convergent theorem on scale effect algebras

The famous Antosik-Mikusinski convergent theorem on the Abel topological groups has very extensive applications in measure theory, summation theory and other analysis fields. In this paper, we establish the theorem on a class of effect algebras equipped with the ideal topology. This paper shows also that the ideal topology of effect algebras is a useful topology in studying the quantum logic the- ory.     

The Role of Network Topologies in the Optical Core of IP-over-WDM Networks with Static Wavelength Routing

In this paper, we present a performance analysis of network topologies for the optical core of IP-over-WDM networks with static wavelength routing. The performance analysis is focused on regular degree four topologies, and, for comparison purposes, degree three topologies are also considered. It is shown that the increase of the nodal degree from three (degree three topology with smallest diameter) to four (degree four topology with smallest diameter) improves the network performance if a larger number of wavelengths per link is available. However, the influence of wavelength interchange on the nodal degree gain is small. The performance of regular degree four topologies with smallest diameter is also compared with the performance of mesh–torus topologies (which are also degree four topologies), and it is shown that the blocking probability of degree four topologies with smallest diameter is about two orders of magnitude lower than the blocking probability of mesh–torus topologies. It is also presented a performance comparison of WDM-based networks with nodal degrees ranging from two to five and it is shown that the increase of the nodal degree from two to three leads to high nodal degree gains, while de increase of the nodal degree from four to five leads to low nodal degree gains. These results show that degree three and degree four topologies are very attractive for use in the optical core of IP-over-WDM networks.     

同步整流技术的特点与分析比较

同步整流技术在低压大电流开关模块电源领域得到了广泛的应用。本文从从器件、电路结构以及工作方式等三个不同的角度,对同步整流技术进行了分析和比较,以便于能够更好的理解和应用同步整流技术。     

基于时变时滞动态拓扑的二阶Leader-Following多智能体一致性分析

针对具有时变时滞的二阶Leader-Following多智能体系统,研究了其一致性问题。假设其通信拓扑是时刻切换的,并且每个子时间段内系统拓扑不完全连通,采用Lyapunov-Krasovskii泛函和矛盾分析法,对系统进行了解耦分析,得出只需所有时间段内的拓扑并集连通,且系统的特征根满足一定条件,系统能达到一致,并进行了理论证明。以4个following智能体与1个leader智能体做成的网络为例进行具体说明,所得仿真结果验证了理论的有效性。     

线性时滞多智能体系统多类型拓扑切换下的一致性

针对带有时变时滞协议的连续时间线性高阶多智能体系统在多类型有向通信拓扑切换下的一致性问题进行研究.考虑多智能体系统在可一致与不可一致通信拓扑之间进行切换的情况.通过一个线性变换将该一致性问题等价地转化为一个切换时滞系统的稳定性问题.基于切换系统稳定性理论与时滞系统理论,利用平均驻留时间方法分析,以线性矩阵不等式(linear matrix inequalities,LMIs)的形式给出多智能体系统达到状态一致的充分条件.数值实例验证了理论分析所得结论的正确性.     

High‐precision formation control of nonlinear multi‐agent systems with switching topologies: A learning approach

Arbitrary high precision is considered one of the most desirable control objectives in the relative formation for many networked industrial applications, such as flying spacecrafts and mobile robots. The main purpose of this paper is to present design guidelines of applying the iterative schemes to develop distributed formation algorithms in order to achieve this control objective. If certain conditions are met, then the control input signals can be learned by the developed algorithms to accomplish the desired formations with arbitrary high precision. The systems under consideration are a class of multi‐agent systems under directed networks with switching topologies. The agents have discrete‐time affine nonlinear dynamics, but their state functions do not need to be identical. It is shown that the learning processes resulting from the relative output formation of multi‐agent systems can converge exponentially fast with the increase of the iteration number. In particular, this work induces a distributed algorithm that can simultaneously achieve the desired relative output formation between agents and regulate the movement of multi‐agent formations as desired along the time axis. The illustrative numerical simulations are finally performed to demonstrate the effectiveness and performance of the proposed distributed formation algorithms. Copyright © 2014 John Wiley & Sons, Ltd.     

Consensus protocols for discrete-time multi-agent systems with time-varying delays

This paper addresses consensus problems for discrete-time multi-agent systems with time-varying delays and switching interaction topologies and provides a class of effective consensus protocols that are built on repeatedly using the same state information at two time-steps. We show that those protocols can solve consensus problems under milder conditions than the popular consensus algorithm proposed by Jadbabaie et al., specifically, the presented protocols allow for the case that agents can only use delayed information of themselves, whereas the popular one is invalid. It is proved that if the union of the interaction topologies across the time interval with some given length always has a spanning tree, then in the presence of bounded time-varying delays, those protocols solve consensus problems.     

不同拓扑结构FC-AE-1553B网络性能研究

研究点对点、交换式与仲裁环3种不同拓扑结构的网络,建立FC-AE-1553B网络的Markov模型,并分析单点故障对不同拓扑结构总线的影响。仿真结果表明,基于点对点结构的FC-AE-1553B网络在传输NT节点到NC节点的数据流时,具有最小时延,基于交换机实现的FC-AE-1553B网络在传输NT节点到NT节点的数据时,传输性能较优。