The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by de...The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains. The clo6ed-loop multi.agent system converged to an expected type of consensus function, which was divided into four types： zero, non- zero constant vector, bounded trajectories, and ramp trajectories. An algorithm was further provided to construct the protocol gains, which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation. Finally, an example to illustrate the effectiveness of theoretical results was presented.展开更多
This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay.Provided that the agent dynamic is unstable and the diagraph is undirecte...This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay.Provided that the agent dynamic is unstable and the diagraph is undirected,sufficient conditions are derived to guarantee consensus.The key technique is the adoption of historical input information in the protocol.Especially,when agent's own historical input information is used in the protocol design,the consensus condition is constructed in terms of agent dynamic,communication delay,and the eigenratio of the network topology.Simulation result is presented to validate the effectiveness of the theoretical result.展开更多
In this paper, the problem of consensus for continuous time singular systems of multi-agent networks is considered. The definition of r-consensus is introduced for singular systems of multi-agent networks. Firstly, li...In this paper, the problem of consensus for continuous time singular systems of multi-agent networks is considered. The definition of r-consensus is introduced for singular systems of multi-agent networks. Firstly, linear systems with algebraic constraints are considered, and the corresponding results about consensus and average-consensus are derived. Then r-consensus and consensus problems of singular systems are investigated. Sufficient conditions of r-consensus and consensus are obtained,respectively. Finally, an illustrative example is given to show the effectiveness of the proposed method.展开更多
基金Natural Science Foundation of Shandong Province,China(No.ZR2010FZ001)
文摘The consensus problem of a linear discrete-time multi- agent system with directed communication topologies was investigated. A protocol was designed to solve consensus with an improved convergence speed achieved by designing protocol gains. The clo6ed-loop multi.agent system converged to an expected type of consensus function, which was divided into four types： zero, non- zero constant vector, bounded trajectories, and ramp trajectories. An algorithm was further provided to construct the protocol gains, which were determined in terms of a classical pole placement algorithm and a modified algebraic Riccati equation. Finally, an example to illustrate the effectiveness of theoretical results was presented.
基金supported by the Taishan Scholar Construction Engineering by Shandong Government,the National Natural Science Foundation of China under Grant Nos.61120106011 and 61203029
文摘This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay.Provided that the agent dynamic is unstable and the diagraph is undirected,sufficient conditions are derived to guarantee consensus.The key technique is the adoption of historical input information in the protocol.Especially,when agent's own historical input information is used in the protocol design,the consensus condition is constructed in terms of agent dynamic,communication delay,and the eigenratio of the network topology.Simulation result is presented to validate the effectiveness of the theoretical result.
基金supported by the National Natural Science Foundation of China under Grant Nos.61174141 and 61374025Research Awards Young and Middle-Aged Scientists of Shandong Province under Grant Nos.BS2011SF009 and BS2011DX019Excellent Youth Foundation of Shandong Province under Grant No.JQ201219
文摘In this paper, the problem of consensus for continuous time singular systems of multi-agent networks is considered. The definition of r-consensus is introduced for singular systems of multi-agent networks. Firstly, linear systems with algebraic constraints are considered, and the corresponding results about consensus and average-consensus are derived. Then r-consensus and consensus problems of singular systems are investigated. Sufficient conditions of r-consensus and consensus are obtained,respectively. Finally, an illustrative example is given to show the effectiveness of the proposed method.
