This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined r...This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.展开更多
In order to study supply chain of the telecom value-added service,a multi-leaders and multi-followers Stackelberg game model with multiple telecom operators and multiple service providers whose income is composed of i...In order to study supply chain of the telecom value-added service,a multi-leaders and multi-followers Stackelberg game model with multiple telecom operators and multiple service providers whose income is composed of information fee division and advertisement was constructed.Then a demonstration was simulated,and the results were compared with the situation of service providers' income only from information fee division.The simulated and compared results indicate that,the enterprises in the supply chain have the nature of pursuing the maximum profits in capital markets;meanwhile,first-mover advantages and some enterprise can get more profits with the information asymmetry.展开更多
We analyse the fixed-time consensus problem for multi-agent systems with leaderfollower mode. Based on a follower’s observation structure for the leader’s information, it is proved that the estimation errors can be ...We analyse the fixed-time consensus problem for multi-agent systems with leaderfollower mode. Based on a follower’s observation structure for the leader’s information, it is proved that the estimation errors can be converged to zero at a fixed time. From this stability and a sliding mode structure, we derive a control input of followers, which provides a critical support for fixed-time consensus. The simulation results demonstrate that this control approach does conduce to the implementation of the fixed-time synchronization.展开更多
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 instant...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.展开更多
In this article, we introduce and study some new classes of multi-leader-follower generalized constrained multiobjective games in locally FC-uniform spaces where the number of leaders and followers may be finite or in...In this article, we introduce and study some new classes of multi-leader-follower generalized constrained multiobjective games in locally FC-uniform spaces where the number of leaders and followers may be finite or infinite and the objective functions of the followers obtain their values in infinite-dimensional spaces. Each leader has a constrained correspondence. By using a collective fixed point theorem in locally FC-uniform spaces due to author, some existence theorems of equilibrium points for the multi-leader-follower generalized constrained multiobjective games are established under nonconvex settings. These results generalize some corresponding results in recent literature.展开更多
Based on the multiple surface and fixed undirected communication topology, the adaptive leader follower contrul for multiple quadrotors is discussed. Our approach is based on leader follower architecture. Multiple sur...Based on the multiple surface and fixed undirected communication topology, the adaptive leader follower contrul for multiple quadrotors is discussed. Our approach is based on leader follower architecture. Multiple surface control （MSC） is used to design consensus controller to make multiple quadrotors construct a formation during flying with the presence of uncertainty item caused by the ground effect during landing or taking off. Simulation results are presented to validate the effectiveness of the proposed controller.展开更多
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 conse...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.展开更多
基金supported by the National Natural Science Foundation of China (Grant Nos. 60674037,61074017 and 61074004)the Program for New Century Excellent Talents in Universities (Grant No. NCET-09-0674)the Program for Liaoning Excellent Talents in Universities (Grant No. 2009R06)
文摘This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.
基金supported by Research Start Fund of Northwest A&F University and Youth Fund of Communication University of China under Grant No.XNG1035partly performed in the project"On-line Multi-attribute Procurement Auction Mechanism Design and Multi-agent System Implementation"supported by National Natural Science Foundation of China under Grant No.71001009
文摘In order to study supply chain of the telecom value-added service,a multi-leaders and multi-followers Stackelberg game model with multiple telecom operators and multiple service providers whose income is composed of information fee division and advertisement was constructed.Then a demonstration was simulated,and the results were compared with the situation of service providers' income only from information fee division.The simulated and compared results indicate that,the enterprises in the supply chain have the nature of pursuing the maximum profits in capital markets;meanwhile,first-mover advantages and some enterprise can get more profits with the information asymmetry.
基金Supported by the National Natural Science Foundation of China(11401577,11671011)
文摘We analyse the fixed-time consensus problem for multi-agent systems with leaderfollower mode. Based on a follower’s observation structure for the leader’s information, it is proved that the estimation errors can be converged to zero at a fixed time. From this stability and a sliding mode structure, we derive a control input of followers, which provides a critical support for fixed-time consensus. The simulation results demonstrate that this control approach does conduce to the implementation of the fixed-time synchronization.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,60973095,60804013,and 61104092)the Fundamental Research Funds for the Central Universities,China(Grant Nos.JUSRP111A44,JUSRP21011, and JUSRP11233)+1 种基金the Foundation of State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology(HUST),China(Grant No.DMETKF2010008)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘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.
基金supported by the Scientific Research Fun of Sichuan Normal University(11ZDL01)the Sichuan Province Leading Academic Discipline Project(SZD0406)
文摘In this article, we introduce and study some new classes of multi-leader-follower generalized constrained multiobjective games in locally FC-uniform spaces where the number of leaders and followers may be finite or infinite and the objective functions of the followers obtain their values in infinite-dimensional spaces. Each leader has a constrained correspondence. By using a collective fixed point theorem in locally FC-uniform spaces due to author, some existence theorems of equilibrium points for the multi-leader-follower generalized constrained multiobjective games are established under nonconvex settings. These results generalize some corresponding results in recent literature.
文摘Based on the multiple surface and fixed undirected communication topology, the adaptive leader follower contrul for multiple quadrotors is discussed. Our approach is based on leader follower architecture. Multiple surface control （MSC） is used to design consensus controller to make multiple quadrotors construct a formation during flying with the presence of uncertainty item caused by the ground effect during landing or taking off. Simulation results are presented to validate the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,60973095,60804013,and 61104092)the Fundamental Research Funds for the Central Universities,China(Grant Nos.JUSRP111A44,JUSRP21011,and JUSRP11233)+1 种基金the Foundation of State Key Laboratory of Digital Manufacturing Equipment and Technology,HUST,China(Grant No.DMETKF2010008)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘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.
