共查询到20条相似文献，搜索用时 15 毫秒
1.
This paper deals with the consensus problem of second‐order multi‐agent systems with sampled data. Because of the unavailable velocity information, consensus problem is studied only by using the sampled position information. The final consensus states of multi‐agent system are given. And a necessary and sufficient consensus condition is provided, which depends on the parameters of sampling interval, eigenvalues of Laplacian matrix, and coupling strengths. Then, the case that both the sampled position and velocity information can be obtained is discussed. On the basis of introducing a time‐varying piecewise‐continuous delay and proposing a novel time‐dependent Lyapunov functional, the sufficient consensus condition is presented, and the upper bound of sampling interval can be estimated. Simulation examples are provided finally to demonstrate the effectiveness of the proposed design methods. Copyright © 2013 John Wiley & Sons, Ltd. 相似文献
2.
This paper performs a consensus analysis of leader‐following multi‐agent systems with multiple double integrators in the framework of sampled‐data control. Both single‐leader and multiple‐leader scenarios are considered under the assumption of networks with detectable position‐like state information. The coordination tasks are accomplished by a given protocol with the robustness against the change of sampling periods. The sampling periods can be chosen to be of an arbitrary fixed length or large time‐varying length. Under the proposed protocol, we achieve two objectives: (i) in the single leader‐subgroup case, all followers reach an agreement with leaders on states asymptotically and (ii) in the multiple leader‐subgroup case, each follower converges to some convex combination of the final states of all leaders. It is shown that the final state configuration of the convex combination is uniquely determined by the underlying interaction topology, which can be any weakly connected graph. Compared with the existing results on leader‐following networks, the consensus problem and the containment problem are solved in a unified framework with large sampling periods. Some numerical experiments are conducted to illustrate the dynamic behavior of all agents with this protocol. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
3.
Zunshui Cheng 《Asian journal of control》2013,15(5):1524-1530
This paper studies a consensus problem for lth (l ≥ 2) order multi‐agent systems with digraph, namely, for a fixed r (0 ≤ r ≤ l ? 1), the rth derivative of the states xi of agents are convergent to a constant value and, for every k (0 ≤ k ≤ l ? 1), are convergent to zeros. A new concept of r‐consensus is introduced and new consensus protocols are proposed for solving such an r‐consensus problem. A sufficient and necessary condition for r‐consensus is obtained. As special cases, criteria for third‐order systems are given, in which the exact relationship between feedback gains is established. Finally, an illustrative example is given to demonstrate the effectiveness of these protocols. 相似文献
4.
J. Raisch 《Asian journal of control》2014,16(1):30-39
This paper studies the convergence properties of consensus algorithms for agents with double integrator dynamics communicating over networks modelled by undirected graphs. The positions and velocities of the agents are shared along heterogeneous, i.e. different, undirected communication networks. The main result is that consensus can be achieved, even though the networks along which position and velocity information are shared are different, and not even connected. Insights on the consensus rate are given based only on the topological properties of the network. 相似文献
5.
This paper studies the consensus problem for a class of general third‐order multi‐agent systems on an undirected connected network. By employing a variables transformation, the consensus control problem can be turned into a asymptotical stability problem. Then we present a necessary and sufficient condition for guaranteeing consensus by using Routh‐Hurwitz stability criterion. And this result can be applied to a special case of third‐order integrator systems. Also we will present a tolerable communication time delay for third‐order integrator systems under the assumption that multi‐agent systems can reach consensus without communication delay. 相似文献
6.
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
7.
The problem of second‐order consensus is investigated in this paper for a class of multi‐agent systems with a fixed directed topology and communication constraints where each agent is assumed to share information only with its neighbors on some disconnected time intervals. A novel consensus protocol designed based on synchronous intermittent local information feedback is proposed to coordinate the states of agents to converge to second‐order consensus under a fixed strongly connected topology, which is then extended to the case where the communication topology contains a directed spanning tree. By using tools from algebraic graph theory and Lyapunov control approach, it is proved that second‐order consensus can be reached if the general algebraic connectivity of the communication topology is larger than a threshold value and the mobile agents communicate with their neighbors frequently enough as the network evolves. Finally, a numerical example is simulated to verify the theoretical analysis. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
8.
In this paper, we study distributed rotating consensus in networks of second‐order agents using only local position information in three‐dimensional space. We propose a protocol to make the multi‐agent system finally move together around a common point and present corresponding conditions for rotating consensus of the system. Finally, a numerical example is provided to demonstrate the effectiveness of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
9.
Yu Zhao Guanghui Wen Zhisheng Duan Xiang Xu Guanrong Chen 《Asian journal of control》2013,15(2):571-582
The consensus problem is investigated in this paper for a class of multi‐agent systems with general linear node dynamics and directed communication topologies. A new distributed observer‐type consensus protocol is designed based only on the relative output measurements of neighboring agents. Compared with existing observer‐type protocols, the one presented here does not require information about the relative states of the observers. Tools from small gain theory and matrix analysis, some sufficient conditions are obtained for achieving consensus in such multi‐agent systems where the underlying network topology contains a directed spanning tree. Finally, some numerical examples including an application in low‐Earth‐orbit satellite formation flying are provided to illustrate the theoretical results. 相似文献
10.
This paper is concerned with the problem of consensus in directed networks of multiple agents with intrinsic nonlinear dynamics and sampled‐data information. A new protocol is induced from a class of continuous‐time linear consensus protocols by implementing data‐sampling technique and a zero‐order hold circuit. On the basis of a delayed‐input approach, the sampled‐data multi‐agent system is converted to an equivalent nonlinear system with a time‐varying delay. Theoretical analysis on this time‐delayed system shows that consensus with asymptotic time‐varying velocities in a strongly connected network can be achieved over some suitable sampled‐data intervals. A multi‐step procedure is further presented to estimate the upper bound of the maximal allowable sampling intervals. The results are then extended to a network topology with a directed spanning tree. For the case of the topology without a directed spanning tree, it is shown that the new protocol can still guarantee the system to achieve consensus by appropriately informing a fraction of agents. Finally, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results and the dependence of the upper bound of maximal allowable sampling interval on the coupling strength. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
11.
Consensus problems are studied for both continuous‐time and discrete‐time multi‐agent singular systems with time‐invariant and directed communication topologies. Under restricted system equivalence of singular agents, sufficient and necessary conditions are obtained for admissible consensus ability with static protocols, which are based on both the relative information of the dynamic states and the absolute information of the static states. For a network of continuous‐time singular systems, the existence of admissible consensualization can be cast into strong stabilizability of the agent dynamics. Once discrete‐time multi‐agent singular systems satisfy the condition of reaching nontrivial final consensus states, strong stabilizability is a sufficient condition to achieve admissible consensualization. Two algorithms are proposed to construct two protocols, which are based on a linear matrix inequality and a modified Riccati equation, respectively. Finally, the algorithms are illustrated by two simulation examples. 相似文献
12.
In this paper, the consensus problem is investigated via bounded controls for the multi‐agent systems with or without communication. Based on the nested saturation method, the saturated control laws are designed to solve the consensus problem. Under the designed saturated control laws, the transient performance of the closed‐loop system can be improved by tuning the saturation level. First of all, asymptotical consensus algorithms with bounded control inputs are proposed for the multi‐agent systems with or without communication delays. Under these consensus algorithms, the states’ consensus can be achieved asymptotically. Then, based on a kind of novel nonlinear saturation functions, bounded finite‐time consensus algorithms are further developed. It is shown that the states’ consensus can be achieved in finite time. Finally, two examples are given to verify the efficiency of the proposed methods. 相似文献
13.
This paper studies consensus in linear multi‐agent systems with current and sampled partial relative states. A distributed linear consensus protocol is designed, where both current and sampled relative states are utilized. A necessary and sufficient condition for consensus in this setting is established. The notion of the consensus region is then introduced and analyzed for third‐order systems, provided that each agent can only know its relative positions and velocities. It is shown that the consensus regions are stable to control gains and sampling period. Additionally, how to choose the control gains and the sampling period is given for consensus in third‐order systems. Finally, an example is given to verify and illustrate the analysis. 相似文献
14.
This paper is concerned with consensus problems in directed networks of multiple agents with double‐integrator dynamics. It is assumed that each agent adjusts its state based on the information of its states relative to its neighbors at discrete times and the interaction topology among agents is time‐varying. Both synchronous and asynchronous cases are considered. The synchrony means that each agent's update times, at which it obtains new control signals, are the same as the others', and the asynchrony implies that each agent's update times are independent of the others'. In the synchronous case, the consensus problem is proved to be equivalent to the asymptotic stability problem of a discrete‐time switched system. By analyzing the asymptotic stability of the discrete‐time switched system, it is shown that consensus can be reached if the update time intervals are small sufficiently, and an allowable upper bound of update time intervals is obtained. In the asynchronous case, the consensus problem is transformed into the global asymptotic stability problem of a continuous‐time switched system with time‐varying delays. In virtue of a linear matrix inequality method, it is proved that consensus can be reached if the delays are small enough, and an admissible upper bound of delays is derived. Simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2009 John Wiley & Sons, Ltd. 相似文献
15.
This paper is concerned with the second‐order consensus problem of multi‐agent systems with a virtual leader, where all agents and the virtual leader share the same intrinsic dynamics with a locally Lipschitz condition. It is assumed that only a small fraction of agents in the group are informed about the position and velocity of the virtual leader. A connectivity‐preserving adaptive controller is proposed to ensure the consensus of multi‐agent systems, wherein no information about the nonlinear dynamics is needed. Moreover, it is proved that the consensus can be reached globally with the proposed control strategy if the degree of the nonlinear dynamics is smaller than some analytical value. Numerical simulations are further provided to illustrate the theoretical results. Copyright © 2012 John Wiley & Sons, Ltd. 相似文献
16.
A time averaging technique is introduced to consensus algorithms in networked multi‐agent systems under a noisy environment. Each agent communicates with its neighboring agents via a constant gain, while the time averaging states of the agents are considered as the values for agreement. The variation of the time averaging states then is evaluated at a specific number of iterations, where the number is given explicitly in terms of parameters related to the consensus accuracy and its probabilistic guarantee. This result establishes a rigorous stopping rule for the multi‐agent consensus with noisy measurements. Several results on this type of stopping rules are provided for undirected, directed, and time‐varying communication graphs. These theoretical results are illustrated through numerical examples. 相似文献
17.
In this paper, the finite‐time agreement problem of continuous‐time multi‐agent systems with communication delays is considered. First, the multi‐agent system researched in the paper is described. Second, some notations and lemmas used in the paper are given. Then, agreement protocols for continuous (but non‐smooth) multi‐agent systems are proposed, which ensure that the states of agents reach agreement in finite time. The stability analysis and simulations are presented to show the effectiveness of the method. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
18.
In this paper, we propose two asynchronous distributed protocols for the heading consensus of a multi‐agent group which cannot access a global coordinate system and a global time. Both the leaderless and leader‐following cases are addressed, and inter‐agent communication delay is taken into account. It is proved, under some standard connectivity assumptions, that our leaderless algorithm ensures the heading consensus provided the initial headings are not balanced; and the leader‐based algorithm guarantees the global heading consensus. 相似文献
19.
This paper investigates the finite‐time consensus problem for multi‐agent systems with second‐order individual dynamics under switching topologies. A distributed continuous‐time protocol is designed to guarantee finite‐time consensus for homogeneous agents without predetermined leaders, i.e., it ensures agents asymptotically converge to an average consensus within finite time, even if the interaction topology among them is time‐varying but stepwise jointly‐connected. In particular, it introduces a distributed continuous‐time protocol to reach consensus in finite time and reduce the chattering together. Finally, the simulation results are also given to validate the proposed approach. 相似文献
20.
In this paper, a novel consensus protocol for second‐order multi‐agent systems is elegantly designed, and it relaxes the common requirement of the velocity information of the agents. An interesting consensus criterion is explicitly derived in terms of the proposed cooperation law provided that the dynamical equation for each agent is linear. As an extension, the proposed cooperation rule is further extended to a general scenario, where the coupling weights characterizing the relationships among the neighboring agents are time‐varying. Accordingly, two distributed cooperative algorithms (node/edge‐based scheme) are explicitly designed. Moreover, we study the case of network with switching communication setting. It shows that edge‐based law is capable with the time‐varying topology, while the node‐based scheme is not. In addition, the proposed coordination strategies are applied to the tracking problem as well. Finally, these obtained consensus results are well supported in the light of the pendulum models. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献