共查询到20条相似文献,搜索用时 15 毫秒
1.
2.
Leader-following consensus criteria for multi-agent systems with time-varying delays and switching interconnection topologies 下载免费PDF全文
We consider multi-agent systems with time-varying delays and switching interconnection topologies.By constructing a suitable Lyapunov-Krasovskii functional and using the reciprocally convex approach,new delay-dependent consensus criteria for the systems are established in terms of linear matrix inequalities(LMIs),which can be easily solved by using various effective optimization algorithms.Two numerical examples are given to illustrate the effectiveness of the proposed methods. 相似文献
3.
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
4.
针对有向加权且存在全局可达点的静态网络拓扑, 考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题. 基于广义Nyquist准则与频域控制理论的方法, 分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件. 通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关, 与通信时延无关. 但是, 通信时延的存在却要影响系统的动态特性. 仿真实验结果进一步验证了理论分析所得结论的正确性. 相似文献
5.
In this paper, by using the stability theory of stochastic
differential equations, the average-consensus problem with noise
perturbation is investigated. It is analytically proved that the
consensus could be achieved with a probability of one. Furthermore,
numerical examples are taken to illustrate the effectiveness of the
theoretical result. 相似文献
6.
In this paper,we consider the containment consensus control problem for multi-agent systems with measurement noises and time-varying communication delays under directed networks.By using stochastic analysis tools and algebraic graph theory,we prove that the followers can converge to the convex hull spanned by the leaders in the sense of mean square if the allowed upper bound of the time-varying delays satisfies a certain sufficient condition.Moreover,the time-varying delays are asymmetric for each follower agent,and the time-delay-dependent consensus condition is derived.Finally,numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results. 相似文献
7.
This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted by noises and time delays. Based on the graph theory, stochastic tools, and the Lyapunov function method, we derive the sufficient conditions under which the systems would reach stochastic bounded consensus in mean square with the protocol we designed. Finally,a numerical simulation is illustrated to check the effectiveness of the proposed algorithms. 相似文献
8.
9.
Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases: 1) continuous, 2) discrete, and 3) a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis. 相似文献
10.
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
11.
Bounded consensus tracking of second-order multi-agent systems with sampling delay under directed networks 下载免费PDF全文
The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protocols based on sampled-data control are proposed so that each agent can track the time-varying reference state of the virtual leader. By using the delay decomposition approach, the augmented matrix method, and the frequency domain analysis, necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized. Furthermore, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results. 相似文献
12.
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
13.
Leader-following consensus control for networked multi-teleoperator systems with interval time-varying communication delays 下载免费PDF全文
We study the leader-following consensus stability and stabilization of networked multi-teleoperator systems with interval time-varying communication delays. With the construction of a suitable Lyapunov-Krasovskii functional and the utilization of the reciprocally convex approach, novel delay-dependent consensus stability and stabilization conditions for the systems are established in terms of linear matrix inequalities, which can easily be solved by various effective optimization algorithms. One illustrative example is given to illustrate the effectiveness of the proposed methods. 相似文献
14.
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
15.
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
16.
Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader 下载免费PDF全文
This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy. 相似文献
17.
Stochastic bounded consensus tracking of leader-follower multi-agent systems with measurement noises and sampled-data 下载免费PDF全文
<正>This paper is concerned with the stochastic bounded consensus tracking problems of leader-follower multi-agent systems,where the control input of an agent can only use the information measured at the sampling instants from its neighbours or the virtual leader with a time-varying reference state,and the measurements are corrupted by random noises.The probability limit theory and the algebra graph theory are employed to derive the necessary and sufficient conditions guaranteeing the mean square bounded consensus tracking.It is shown that the maximum allowable upper boundary of the sampling period simultaneously depends on the constant feedback gains and the network topology. Furthermore,the effects of the sampling period on the tracking performance are analysed.It turns out that from the view point of the sampling period,there is a trade-off between the tracking speed and the static tracking error. Simulations are provided to demonstrate the effectiveness of the theoretical results. 相似文献
18.
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
19.
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
20.
Finite-time consensus for leader-following multi-agent systems over switching network topologies 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