This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol i...This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.展开更多
In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distribu...In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.展开更多
This paper investigates controllability of discrete-time multi-agent systems with multiple leaders on fixed networks. The leaders are particular agents playing a part in external inputs to steer other member agents. T...This paper investigates controllability of discrete-time multi-agent systems with multiple leaders on fixed networks. The leaders are particular agents playing a part in external inputs to steer other member agents. The followers can arrive at any predetermined configuration by regulating the behaviors of the leaders. Some sufficient and necessary conditions are proposed for the controllability of discrete-time multi-agent systems with multiple leaders. Moreover, the case with isolated agents is discussed. Numerical examples and simulations are proposed to illustrate the theoretical results we established.展开更多
Purpose–The purpose of this paper is to study the dynamical group consensus of heterogeneous multi-agent systems with fixed topologies.Design/methodology/approach–The tool used in this paper to model the topologies ...Purpose–The purpose of this paper is to study the dynamical group consensus of heterogeneous multi-agent systems with fixed topologies.Design/methodology/approach–The tool used in this paper to model the topologies of multi-agent systems is algebraic graph theory.The matrix theory and stability theory are applied to research the groupconsensusofheterogeneousmulti-agentsystemswithfixedtopologies.TheLaplacetransformand Routh criterion are utilized to analyze the convergence properties of heterogeneous multi-agent systems.Findings–It is discovered that the dynamical group consensus for heterogeneous multi-agent systems with first-order and second-order agents can be achieved under the reasonable hypothesizes.The group consensus condition is only relied on the nonzero eigenvalues of the graph Laplacian matrix.Originality/value–The novelty of this paper is to investigate the dynamical group consensus of heterogeneous multi-agent systems with first-order and second-order agents and fixed topologies and obtain a sufficient group consensus condition.展开更多
基金Supported by the National Natural Science Foundation of China （No. 61075065,60774045, U1134108） and the Ph. D Programs Foundation of Ministry of Education of China （ No. 20110162110041 ）.
文摘This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.
文摘In this paper, a distributed control scheme has been developed for consensus of single integrator multi-agent systems with directed fixed communication topology for arbitrarily large constant, time-varying or distributed communication delays. It is proved that the closed loop control system can reach consensus with an exponential convergence rate if and only if the topology is quasi-strongly connected. Simulation results are also provided to demonstrate the effectiveness of the proposed controller.
基金Supported in part by the National Natural Science Foundation of China under Grant No. 61104140the Fundamental Research Funds for the Central Universities (HUST: Grant No. 2011JC055)+4 种基金the Research Fund for the Doctoral Program of Higher Education (RFDP) under Grant No. 20100142120023the Natural Science Foundation of Hubei Province of China under Grant No. 2011CDB042the Beijing Natural Science Foundation Program (1102016)the Science and Technology Development Plan Project of Beijing Education Commission(No. KM201310009011)Funding Project for Academic Human Resources Development in Institutions of Higher Learning Under the Jurisdiction of Beijing Municipality (PHR201108055)
文摘This paper investigates controllability of discrete-time multi-agent systems with multiple leaders on fixed networks. The leaders are particular agents playing a part in external inputs to steer other member agents. The followers can arrive at any predetermined configuration by regulating the behaviors of the leaders. Some sufficient and necessary conditions are proposed for the controllability of discrete-time multi-agent systems with multiple leaders. Moreover, the case with isolated agents is discussed. Numerical examples and simulations are proposed to illustrate the theoretical results we established.
文摘Purpose–The purpose of this paper is to study the dynamical group consensus of heterogeneous multi-agent systems with fixed topologies.Design/methodology/approach–The tool used in this paper to model the topologies of multi-agent systems is algebraic graph theory.The matrix theory and stability theory are applied to research the groupconsensusofheterogeneousmulti-agentsystemswithfixedtopologies.TheLaplacetransformand Routh criterion are utilized to analyze the convergence properties of heterogeneous multi-agent systems.Findings–It is discovered that the dynamical group consensus for heterogeneous multi-agent systems with first-order and second-order agents can be achieved under the reasonable hypothesizes.The group consensus condition is only relied on the nonzero eigenvalues of the graph Laplacian matrix.Originality/value–The novelty of this paper is to investigate the dynamical group consensus of heterogeneous multi-agent systems with first-order and second-order agents and fixed topologies and obtain a sufficient group consensus condition.
