PDM (product data management) is one kind of techniques based on software and database, which integrates information and process related to products. But it is not enough to perform the complication of PDM in enterpri...PDM (product data management) is one kind of techniques based on software and database, which integrates information and process related to products. But it is not enough to perform the complication of PDM in enterprises. Then the mechanism to harmonize all kinds of information and process is needed. The paper introduces a novel approach to implement the intelligent monitor of PDM based on MAS (multi agent system). It carries out the management of information and process by MC (monitor center). The paper first puts forward the architecture of the whole system, then defines the structure of MC and its interoperation mode.展开更多
In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control sc...In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.展开更多
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...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.展开更多
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 ...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.展开更多
This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed c...This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.展开更多
We consider an anisotropic swarm model with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a cohesive cluster of finite siz...We consider an anisotropic swarm model with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a cohesive cluster of finite size around the swarm center in a finite time. Moreover, we extend our results to more general attraction/repulsion functions. Numerical simulations demonstrate that all agents will eventually enter into and remain in a bounded region around the swarm center which may exhibit complex spiral motion due to asymmetry of the coupling structure. The model in this paper is more general than isotropic swarms and our results provide further insight into the effect of the interaction pattern on individual motion in a swarm system.展开更多
文摘PDM (product data management) is one kind of techniques based on software and database, which integrates information and process related to products. But it is not enough to perform the complication of PDM in enterprises. Then the mechanism to harmonize all kinds of information and process is needed. The paper introduces a novel approach to implement the intelligent monitor of PDM based on MAS (multi agent system). It carries out the management of information and process by MC (monitor center). The paper first puts forward the architecture of the whole system, then defines the structure of MC and its interoperation mode.
基金Supported by National Basic Research Program of China （973 Program） （2010CB731800）, Key Project of Natural Science Fouudation of China （60934003）, National Natural Science Foundation of China （61074065, 60974018）, Natural Science Foundation of Hebei Province（F2012203119）, and the Science Foundation of Yanshan University for the Excellent Ph. D. Students （201204） The authors thank Chen Cai-Lian of the Shanghai Jiao Tong University for her comments on English polishing and problem formulation.
基金supported in part by the National Natural Science Foundation of Chin(61503194,61533010,61374055)the Ph.D.Programs Foundation of Ministry of Education of China(20110142110036)+6 种基金the Natural Science Foundation o Jiangsu Province(BK20131381,BK20140877)China Postdoctoral Scienc Foundation(2015M571788)Jiangsu Planned Projects for Postdoctoral Re search Funds(1402066B)the Foundation of the Key Laboratory of Marin Dynamic Simulation and Control for the Ministry of Transport(DMU)(DMU MSCKLT2016005)Jiangsu Government Scholarship for Overseas Studie(2017-037)the Key University Natural Science Research Project of Jiangsu Province(17KJA120003)the Scientific Foundation of Nanjing University of Posts and Telecommunications(NUPTSF)(NY214076)
文摘In this paper, we consider a consensus tracking problem of a class of networked multi-agent systems(MASs)in non-affine pure-feedback form under a directed topology. A distributed adaptive tracking consensus control scheme is constructed recursively by the backstepping method, graph theory,neural networks(NNs) and the dynamic surface control(DSC)approach. The key advantage of the proposed control strategy is that, by the DSC technique, it avoids "explosion of complexity"problem along with the increase of the degree of individual agents and thus the computational burden of the scheme can be drastically reduced. Moreover, there is no requirement for prior knowledge about system parameters of individual agents and uncertain dynamics by employing NNs approximation technology.We then further show that, in theory, the designed control policy guarantees the consensus errors to be cooperatively semi-globally uniformly ultimately bounded(CSUUB). Finally, two examples are presented to validate the effectiveness of the proposed control strategy.
基金Supported by National Natural Science Foundation of China （61079001, 61273006）, National High Technology Research and Development Program of China （863 Program） （2011AA110301）, and Specialized Research Fund for the Doctoral Program of Higher Education of China （20111103110017）
基金supported by the National High Technology Research and Development Program of China(Grant No.2011AA040103)the Research Foundationof Shanghai Institute of Technology,China(Grant No.B504)
文摘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.
基金Project supported by the National Natural Science Foundation of China (Grant No. 70571059)
文摘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.
基金supported by the National Natural Science Foundation of China(No.60674050,60736022,10972002,60774089,60704039)
文摘This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.
基金This work was supported by the National Natural Science Foundation of China (No. 10372002,60274001) and the National Key Basic Research and Develop-ment Program (No.2002CB312200).
文摘We consider an anisotropic swarm model with an attraction/repulsion function and study its aggregation properties. It is shown that the swarm members will aggregate and eventually form a cohesive cluster of finite size around the swarm center in a finite time. Moreover, we extend our results to more general attraction/repulsion functions. Numerical simulations demonstrate that all agents will eventually enter into and remain in a bounded region around the swarm center which may exhibit complex spiral motion due to asymmetry of the coupling structure. The model in this paper is more general than isotropic swarms and our results provide further insight into the effect of the interaction pattern on individual motion in a swarm system.
