Limited-Budget Consensus Design and Analysis for Multiagent Systems With Switching Topologies and Intermittent Communications

This paper investigates limited-budget consensus design and analysis problems of general high-order multiagent systems with intermittent communications and switching topologies.The main contribution of this paper is that the tradeoff design between the energy consumption and the consensus performance can be realized while achieving leaderless or leaderfollowing consensus,under constraints of limited budgets and intermittent communications.Firstly,a new intermittent limitedbudget consensus control protocol with a practical trade-off design index is proposed,where the total budget of the whole multiagent system is limited.Then,leaderless limited-budget consensus design and analysis criteria are derived,in which the matrix variables of linear matrix inequalities are determined according to the total budget and the practical trade-off design parameters.Meanwhile,an explicit formulation of the consensus function is derived to describe the consensus state trajectory of the whole system.Moreover,a new two-stage transformation strategy is utilized for leader-following cases,by which the dynamics decomposition of leaderless and leader-following cases can be converted into a unified framework,and sufficient conditions of the leader-following limited-budget consensus design and analysis are determined via those of the leaderless cases.Finally,numerical simulations are given to illustrate theoretical results.

Formation control for networked multiagent systems with a minimum energy constraint

Minimum-energy formation achievement problems for networked multiagent systems are investigated,where information networks with leaderless and leader-follower structures are respectively addressed and information networks are randomly switching.The critical feature of this work is that the energy constraint is minimum in the sense of the linear matrix inequality,but limited-budget control and guaranteed-cost control cannot realize a minimum-energy formation.Firstly,the leaderless minimum-energy formation control problem is converted into an asymp-totic stability one via a nonsingular transformation and state space decomposition,and based on linear matrix inequality techniques,sufficient conditions for analysis and design of leaderless minimum-energy formation achievement are proposed,respectively,which can be solved by the generalized eigenvalue method.Then,main results of minimum-energy formation achievement of leaderless networked multiagent systems are extended leader-follower networked multiagent systems,where the asymmetric property of the leader-follower information network is well dealt with by two nonsingular transformations.Finally,two simulation examples are shown to verify the main results for minimum-energy formation achievements of leaderless and leader-follower networked multiagent systems,respectively.

Beam tracking method based on reconfigurable intelligent surface for obstructed communication

This paper proposes a new reconfigurable intelligent surface based three-dimensional beam tracking method to solve the beam tracking problems for the unmanned aerial vehicle with obstacles in communication channels.The proposed beam tracking method can not only regulate the reconfigurable intelligent surfaces to achieve the beam tracking of the obstructed communications,but also optimize the transmission efficiency of the communication.Firstly,a reconfigurable intelligent surface is proposed,which can correlate the transmission signals by adjusting the phaseshift matrix.Meanwhile,a new communication channel is constructed according to the reconfigurable intelligent surface,which consists of two parts.The first one is the channel between the unmanned aerial vehicle and the reconfigurable intelligent surface,the other is the channel between the reconfigurable intelligent surface and the ground base station.Note that the transmission performance of the communications can be optimized by adjusting the phase shift of each uniform linear array on the reconfigurable intelligent surface.Then,a new beam tracking method for the unmanned aerial vehicle with obstructed communications is proposed on the basis of the reconfigurable intelligent surface.By proposing the mixed genetic algorithm,the estimation accuracy of the azimuth and elevation angles is improved to enhance the performance of the beam tracking.Finally,the simulations are provided to verify the effectiveness of the proposed three-dimensional beam tracking method with reconfigurable intelligent surface.