共查询到20条相似文献，搜索用时 15 毫秒
1.
In this paper, we investigate a leader-following tracking problem for multi-agent systems with bounded inputs. We propose a distributed bounded protocol for each follower to track a leader whose states may not be completely measured. We theoretically prove that each agent can follow the leader with estimable track errors. Finally, some numerical simulations are presented to illustrate our theoretical results. 相似文献
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This paper is devoted to the study of consensus problems for thesecond-order multi-agent systems with external disturbances,switching topology and communication time-delay. Firstly, we performa model transformation and separate the agreement states from thedisagreement states. Secondly, according to this system, we derive asufficient condition for consensus problem without disturbances byusing the Lyapunov-based approach. Furthermore, we give a designcriterion in terms of bilinear matrix inequality for the controlprotocol in the presence of disturbances. Finally, numericalsimulations are provided to show the effectiveness of ourstrategies. 相似文献
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Nonlinear consensus protocols for dynamic directed networks ofmulti-agent systems with fixed and switching topologies areinvestigated separately in this paper. Based on the centre manifoldreduction technique, nonlinear consensus protocols are presented. Weprove that a group of agents can reach a β-consensus, thevalue of which is the group decision value varying from the minimum andthe maximum values of the initial states of the agents. Moreover, wederive the conditions to guarantee that all the agents reach aβ--consensus on a desired group decision value. Finally, asimulation study concerning the vertical alignment manoeuvere of ateam of unmanned air vehicles is performed. Simulation results showthat the nonlinear consensus protocols proposed are more effective thanthe linear protocols for the formation control of the agents andthey are an improvement over existing protocols. 相似文献
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This paper investigates second-order consensus of multi-agent systems with a virtual leader of varying velocity while preserving network connectivity.We propose a novel second-order consensus algorithm with bounded control inputs.Under the condition that the initial network is connected,the network will be connected all the time and all agents and the virtual leader can attain the same position and move with the same velocity.A simulation example is proposed to illustrate the effective of the proposed algorithm. 相似文献
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Consensus in directed networks of multiple agents, as an important topic, has become an active research subject. Over the past several years, some types of consensus problems have been studied. In this paper, we propose a novel type of consensus, the generalized consensus （GC）, which includes the traditional consensus, the anti-consensus, and the cluster consensus as its special cases. Based on the Lyapunov＇s direct method and the graph theory, a simple control algorithm is designed to achieve the generalized consensus in a network of agents. Numerical simulations of linear and nonlinear GC are used to verify the effectiveness of the theoretical analysis. 相似文献
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Finite-time consensus for leader-following multi-agent systems over switching network topologies 
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下载免费PDF全文 Finite-time consensus problem of the leader-following multi-agent system under switching network topologies is studied in this paper.Based on the graph theory,matrix theory,homogeneity with dilation,and LaSalle’s invariance principle,the control protocol of each agent using local information is designed,and the detailed analysis of the leaderfollowing finite-time consensus is provided.Some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results. 相似文献
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Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances 下载免费PDF全文
下载免费PDF全文 Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms(formation control term, velocity matching term, and obstacle avoidance term) is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control. 相似文献
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A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles(multi-AUVs) with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated.This is accomplished by first dividing the communication topology into two different switching parts,i.e.,velocity and position,to reduce the data capacity per data package sent between the multi-AUVs in the ocean.Then,the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model.Consequently,coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies.Considering these factors,sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem.Finally,simulation results that validate the theoretical results are presented. 相似文献
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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
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Ziyi Wang Shaohua Li Wei He Ruohan Yang Zhichao Feng Guowen Sun 《Entropy (Basel, Switzerland)》2022,24(11)
Effective fault-diagnosis strategies have been the focus of research on multi-agent systems (MASs). In this paper, the belief rule base (BRB)-based distributed fault-diagnosis problem for MASs is investigated, and a topology-switching strategy is developed to increase the reliability of fault-diagnosis model. Firstly, a BRB-based distributed fault-diagnosis model is constructed for the MAS with multiple faults, then expert knowledge is used to judge whether the agent is faulty. Then, considering that the system may be influenced by the fault or some other factors and thus leading to a decrease in the accuracy of the fault-diagnosis results, a topology-switching strategy based on the average distance of the output diagnosis accuracy is proposed to update the topology of the agent so that the fault-diagnosis results can be more reliable. Note that the topology-switching threshold is designed based on the average distance between the accuracy of the fault diagnosis of each agent. The method proposed in this paper can solve the problem when the fault-diagnosis accuracy of the model is affected by some common factors and thus decreases, and can improve the reliability of the fault-diagnosis model very well. Finally, the effectiveness of the BRB-based distributed fault-diagnosis model and the proposed topology-switching strategy to improve the fault-diagnosis accuracy is verified by simulation examples. 相似文献
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In this paper the pinning consensus of multi-agent networks with arbitrary topology is investigated. Based on the properties of M-matrix, some criteria of pinning consensus are established for the continuous multi-agent network and the results show that the pinning consensus of the dynamical system depends on the smallest real part of the eigenvalue of the matrix which is composed of the Laplacian matrix of the multi-agent network and the pinning control gains. Meanwhile, the relevant work for the discrete-time system is studied and the corresponding criterion is also obtained. Particularly, the fundamental problem of pinning consensus, that is, what kind of node should be pinned, is investigated and the positive answers to this question are presented. Finally, the correctness of our theoretical findings is demonstrated by some numerical simulated examples. 相似文献
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This paper considers the consensus problem of dynamical multiple agents that communicate via a directed moving neighbourhood random network.Each agent performs random walk on a weighted directed network.Agents interact with each other through random unidirectional information flow when they coincide in the underlying network at a given instant.For such a framework,we present sufficient conditions for almost sure asymptotic consensus.Numerical examples are taken to show the effectiveness of the obtained results. 相似文献
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This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol. 相似文献
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Event-triggered control has been recent/y proposed as an effective strategy for the consensus of multi-agent systems. We present an improved distributed event-triggered control scheme that remedies a shortcoming of some previous event- triggered control schemes in the literature. This improved distributed event-triggered method has no need for continuously monitoring each agent＇ neighbors. Moreover, each agent in the multi-agent systems will not exhibit the Zeno behavior. Numerical simulation results show the effectiveness of the proposed consensus control. 相似文献
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带时延与丢包的网络化多智能体系统控制器设计 总被引：1，自引：0，他引：1
网络时延与数据丢包极大地降低了网络化多智能体系统的控制性能,甚至会破坏稳定性.考虑存在网络时延与数据丢包的网络化多智能体系统,提出了一种基于时延与丢包补偿机制的预测控制器设计方法,来主动地消除网络时延与数据丢包的影响.通过对网络化多智能体预测控制系统的分析,给出了能够保证系统稳定性与一致性的控制器设计步骤.最后的仿真实例表明了该方法的有效性. 相似文献
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In this paper, the leader-following consensus problem of first-order nonlinear multi-agent systems (FONMASs) with external disturbances is studied. Firstly, a novel distributed fixed-time sliding mode manifold is designed and a new static event-triggered protocol over general directed graph is proposed which can well suppress the external disturbances and make the FONMASs achieve leader-following consensus in fixed-time. Based on fixed-time stability theory and inequality technique, the conditions to be satisfied by the control parameters are obtained and the Zeno behavior can be avoided. In addition, we improve the proposed protocol and propose a new event-triggering strategy for the FONMASs with multiple leaders. The systems can reach the sliding mode surface and achieve containment control in fixed-time if the control parameters are designed carefully. Finally, several numerical simulations are given to show the effectiveness of the proposed protocols. 相似文献
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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