共查询到20条相似文献,搜索用时 953 毫秒
1.
We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results. 相似文献
2.
3.
Consensus of heterogeneous multi-agent systems based on sampled data with a small sampling delay 下载免费PDF全文
In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results. 相似文献
4.
Hong-yong Yang Lei Guo Xun-lin Zhu Ke-cai Cao Hai-lin Zou 《Central European Journal of Physics》2013,11(6):806-812
In complex environments, many distributed networked systems can only be illustrated with fractional-order dynamics. When multi-agent systems show individual diversity with difference agents, heterogeneous (integer-order and fractional-order) dynamics are used to illustrate the agent systems and compose integerfractional compounded-order systems. Applying Laplace transform and frequency domain theory of the fractional-order operator, the consensus of delayed multi-agent systems with directed weighted topologies is studied. Since an integer-order model is the special case of a fractional-order model, the results in this paper can be extended to systems with integer-order models. Finally, numerical examples are used to verify our results. 相似文献
5.
《中国物理 B》2019,(6)
In this paper, we investigate the group consensus for leaderless multi-agent systems. The group consensus protocol based on the position information from neighboring agents is designed. The network may be subjected to frequent cyberattacks, which is close to an actual case. The cyber-attacks are assumed to be recoverable. By utilizing algebraic graph theory, linear matrix inequality(LMI) and Lyapunov stability theory, the multi-agent systems can achieve group consensus under the proposed control protocol. The sufficient conditions of the group consensus for the multi-agent networks subjected to cyber-attacks are given. Furthermore, the results are extended to the consensus issue of multiple subgroups with cyber-attacks. Numerical simulations are performed to demonstrate the effectiveness of the theoretical results. 相似文献
6.
Stochastic bounded consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with general sampling delay 下载免费PDF全文
In this paper we provide a unified framework for consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with a general sampling delay. First, a stochastic bounded consensus tracking protocol based on sampled data with a general sampling delay is presented by employing the delay decomposition technique. Then, necessary and sufficient conditions are derived for guaranteeing leader-follower multi-agent systems with measurement noises and a time-varying reference state to achieve mean square bounded consensus tracking. The obtained results cover no sampling delay, a small sampling delay and a large sampling delay as three special cases. Last, simulations are provided to demonstrate the effectiveness of the theoretical results. 相似文献
7.
In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents' states to an expected consensus track. Then, theinfluence of the disturbances is considered by developing disturbance observers, and disturbance observers based control (DOBC) are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the lowdegree node pinned. 相似文献
8.
To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the results. 相似文献
9.
We study the rotating consensus of multi-agent systems without the relative velocity measurement in this paper. A new protocol is proposed. Then we use the theory of the complex system combined with the function continuity to derive a condition, under which all agents finally reach the rotating consensus. Finally, a numerical example is provided to illustrate our theoretical results. 相似文献
10.
This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents,and agents will pursue the target once they detect its existence. Since the ability of each agent may be different,we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems,a novel consensus-based control law is proposed,where the target and agents are modeled as a leader and followers,respectively. Based on Mason’s rule and signal flow graph analysis,the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally,simulation studies are provided to verify the effectiveness of the proposed approach. 相似文献
11.
Nonlinear consensus protocols for dynamic directed networks of
multi-agent systems with fixed and switching topologies are
investigated separately in this paper. Based on the centre manifold
reduction technique, nonlinear consensus protocols are presented. We
prove that a group of agents can reach a β-consensus, the
value of which is the group decision value varying from the minimum and
the maximum values of the initial states of the agents. Moreover, we
derive the conditions to guarantee that all the agents reach a
β--consensus on a desired group decision value. Finally, a
simulation study concerning the vertical alignment manoeuvere of a
team of unmanned air vehicles is performed. Simulation results show
that the nonlinear consensus protocols proposed are more effective than
the linear protocols for the formation control of the agents and
they are an improvement over existing protocols. 相似文献
12.
In this study, the consensus problem for a class of second-order multi-agent systems with nonuniform time delays is investigated. A linear consensus protocol is used to make all agents reach consensus and move with a constant velocity. By a frequency-domain analysis, a simplified sufficient condition is given to guarantee the consensus stability of the dynamic system. Finally, the effectiveness of the obtained theoretical results is illustrated through numerical simulations. 相似文献
13.
This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts: the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results. 相似文献
14.
Leader-following consensus of fractional order multi-agent systems is investigated. The agents are considered as discrete-time fractional order integrators or fractional order double-integrators. Moreover, the interaction between the agents is described with an undirected communication graph with a fixed topology. It is shown that the leader-following consensus problem for the considered agents could be converted to the asymptotic stability analysis of a discrete-time fractional order system. Based on this idea, sufficient conditions to reach the leader-following consensus in terms of the controller parameters are extracted. This leads to an appropriate region in the controller parameters space. Numerical simulations are provided to show the performance of the proposed leader-following consensus approach. 相似文献
15.
Fault-tolerant finite-time dynamical consensus of double-integrator multi-agent systems with partial agents subject to synchronous self-sensing function failure 下载免费PDF全文
Zhi-Hai Wu 《中国物理 B》2022,31(12):128902-128902
This paper investigates fault-tolerant finite-time dynamical consensus problems of double-integrator multi-agent systems (MASs) with partial agents subject to synchronous self-sensing function failure (SSFF). A strategy of recovering the connectivity of network topology among normal agents based on multi-hop communication and a fault-tolerant finite-time dynamical consensus protocol with time-varying gains are proposed to resist synchronous SSFF. It is proved that double-integrator MASs with partial agents subject to synchronous SSFF using the proposed strategy of network topology connectivity recovery and fault-tolerant finite-time dynamical consensus protocol with the proper time-varying gains can achieve finite-time dynamical consensus. Numerical simulations are given to illustrate the effectiveness of the theoretical results. 相似文献
16.
H∞ consensus control of a class of second-order multi-agent systems without relative velocity measurement 下载免费PDF全文
This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results. 相似文献
17.
This paper deals with the consensus problem of multi-agent systems with second-order dynamics.The objective is to design algorithms such that all agents will have same positions and velocities.First,a reference model based consensus algorithm is proposed.It is proved that the consensus can be achieved if the communication graph has a spanning tree.Different from most of the consensus algorithms proposed in the literature,the parameters of the control laws are different among agents.Therefore,each agent can design its control law independently.Secondly,it gives a consensus algorithm for the case that the velocities of the agents are not available.Thirdly,the effectiveness of the input delay and the communication delay is considered.It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law.Finally,some numerical examples are given to illustrate the proposed results. 相似文献
18.
In this paper, we consider multi-agent consensus problems
in a decentralised fashion. The interconnection topology graph among
the agents is switching and undirected. The agent dynamics is
expressed in the form of a double integrator model. Two different
cases are considered in this study. One is the leader-following case
and the other is leaderless case. Based on graph theory and common
Lyapunov function method, some sufficient conditions are obtained
for the consensus stability of the considered systems with the
neighbour-based feedback laws in both leader-following case and
leaderless case respectively. Finally, two numerical examples are
given to illustrate the obtained results. 相似文献
19.
Mean-square composite-rotating consensus of second-order systems with communication noises 下载免费PDF全文
We study the mean-square composite-rotating consensus problem of second-order multi-agent systems with communication noises, where all agents rotate around a common center and the center of rotation spins around a fixed point simultaneously. Firstly, a time-varying consensus gain is introduced to attenuate to the effect of communication noises. Secondly, sufficient conditions are obtained for achieving the mean-square composite-rotating consensus. Finally, simulations are provided to demonstrate the effectiveness of the proposed algorithm. 相似文献
20.
This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents.Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle.Finally,some simple simulations are presented to illustrate the technique. 相似文献