有向网络下二阶线性多个体动力学系统的渐近性

本文探讨任意有向通讯网络条件下二阶线性多个体动力学系统的渐近性质及其与系统结构的关系.二阶多个体系统的平衡态可以用惯性概念描述.当系统位置控制系数与速度控制系数满足一定的关系时系统将趋于惯性状态.独立基本子系统趋于自身的位置一致惯性状态,这一状态由子系统状态初值以及其Laplacian零特征根左特征向量所确定;非独立子系统中个体的惯性状态在独立基本子系统位置一致惯性状态所决定的凸集内.     

有向网络下仿射非线性多个体协同动力学系统的整体行为

本文讨论有向通讯网络条件下仿射非线性多个体动力学系统的结构及其整体行为．系统可以分解为独立基本子系统和非独立基本子系统．每个独立基本子系统将趋于自身的一致状态,非独立子系统的个体状态将趋于独立基本子系统一致状态为顶点的凸集内．系统所有个体的状态趋于一致的充分必要条件是存在唯一的独立基本子系统．这一结果涵盖了线性多个体动力学系统此前的研究结果．     

有向通讯网络下一类动态群体的整体动力学行为

本文运用图论、矩阵分析和现代控制理论的方法,研究有向通讯网络下一类二维群体的全局动力学行为.此类群体由众多具有相同动力学性质的个体组成,每个个体在不与其他个体发生作用的情况下是李雅普诺夫稳定的,与其他个体交流的信息是传感器测得的带有偏差的位置信息.当每个个体采取分布式线性控制协议时,整个群体的动力学行为,不仅和个体的动力学方程有关,而且和网络结构的代数特征有关.本文具体给出了群体出现全局渐近聚集、周期振荡和发散3种不同行为的代数判据.最后,仿真例子验证了本文结果的有效性.     

有向网络下非线性多智能体系统的协调跟踪

基于一致性理论,在有向拓扑结构下研究非线性多智能体系统的协调跟踪控制问题．考虑智能体动力学模型为一般且仅满足Lipschitz条件的非线性系统,在仅有部分跟随智能体能获取领航智能体信息的情形下,当领航智能体与跟随智能体之间的拓扑结构具有有向生成树,即存在领航智能体到所有跟随智能体的有向路径时,所设计的分布式控制律可实现所有跟随智能体对领航智能体的跟踪,并指出该拓扑结构是系统实现跟踪的一个必要条件．最后,仿真实验验证了所设计控制算法的有效性．     

时变时滞与切换有向通信拓扑协议下线性多智能体系统一致性的平均驻留时间条件

研究时变时滞与切换有向通信拓扑协议下高阶连续时间线性多智能体系统的一致性问题. 利用一个线性变换将该问题等价转化为一个切换时滞系统的稳定性问题. 假定出现的每一个通信拓扑都是可一致的, 借助时滞切换系统稳定性的平均驻留时间方法, 以线性矩阵不等式(LMIs) 形式给出多智能体系统达到全局一致的充分条件. 数值实例验证了结果的正确性.

     

Consensus of output-coupled linear multi-agent systems under fast switching network: Averaging approach

This study addresses the problem of consensus of multi-agent systems, consisting of a set of identical MIMO LTI systems, under a time-varying network that has a well-defined average (with uniform convergence to the average). The information delivered through the communication network is the output of each system. First, it is shown that consensus is reached asymptotically by using a group of compensators if the network switches sufficiently fast and the compensators are designed such that the multi-agent system asymptotically achieves consensus for the average of the network. Further, we find a relation between the two agreements, one obtained from considering the switching network and the other obtained from replacing the network with its average. Then, for a class of minimum phase systems, we remove the fast switching condition by redesigning the compensators. Finally, the formation stabilization of unicycle-type mobile robots is dealt with as an application of the problem, and it is demonstrated via a computer simulation.     

Decentralised regulation of nonlinear multi-agent systems with directed network topologies

This paper aims to address the leader–follower regulation problem of multi-agent systems with directed network topologies, where the agents are described by feedforward nonlinearities with the growth rate being unknown a priori. Both the state feedback regulation protocol and the output feedback regulation protocol are delicately constructed such that all the states of followers can converge to the leader state globally. In this paper, a model transformation is firstly performed and the leader–follower regulation problem can be transformed into a general regulation problem. Then, by introducing an appropriate state transformation, the regulation problem can be changed into a parameter determined problem. It is proved that the parameter can be determined by both the properties of M-matrices and the estimates of nonlinear terms. Finally, a numerical example is presented to show the feasibility of designed protocols.     

具有通信时延和有向网络的多智能体分布式优化

本文对非平衡有向拓扑下一阶多智能体系统的分布式优化问题进行研究.研究的智能体在与邻居的通信过程中都有一个变化的时延.本文的目标是找到使得目标函数f(x)=(NΣi=1)fi(xi)最小的智能体的状态.提出了一种基于有向图的拉普拉斯矩阵的零特征值对应的左特征向量和智能体的局部信息的控制器.在这项研究中,去掉了fi(xi)...     

Robust synchronization of linear multi-agent system with input/output constraints

This paper is concerned with distributed cooperative control of linear uncertain agents with constraints on the amplitudes of inputs and outputs. We derive a condition for achieving both state synchronization and input/output constraints in the presence of norm-bounded uncertainties in the agent models. We develop a synthesis method of the robustly synchronizing state feedback gain in terms of linear matrix inequalities based on the notion of positively invariant sets. The desired feedback gain can be efficiently obtained by solving a certain convex programming whose size is independent of the number of agents.     

Global behavior of dynamical agents in directed network

This paper investigates the global behavior of controlled dynamical agents in directed networks. The agents are Lyapunov stable, are distributed in a line, and communicate through a directed network. The communication topology of the network is characterized by a directed graph and the control protocol is designed in simple linear decentralized feedback law. We study the different conditions under which agents will achieve aggregation, and critical and divergent trajectories, respectively. Our investigation on the dynamical agent system under network is extended to the time-delay network case. Furthermore, we study the case with two pre-specified virtual leaders in the system. Numerical simulations are given and demonstrate that our theoretical results are effective.     

Cluster consensus control of generic linear multi-agent systems under directed topology with acyclic partition

This paper investigates the cluster consensus control for generic linear multi-agent systems (MASs) under directed interaction topology via distributed feedback controller. Focus of this paper is particularly on addressing the following problem which is of both theoretical and practical interests but have not been considered in the existing literature: under what kind of interaction among the clusters can the cluster consensus control be achieved regardless of the magnitudes of the coupling strengths among the agents? Directed acyclic interaction topology among the clusters is proved to have this property. As opposed to the algebraic conditions provided in the existing literature, conditions for guaranteeing the cluster consensus control in this paper are presented in terms of purely the graphic topology conditions and thus are very easy to be verified.     

Mixed filtering for uncertain linear systems: A linear matrix inequality approach

The problem of full-order mixed L₂