Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of...Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.展开更多
A new paradigm of scalable routing for ICN is to combine a geometric routing scheme with a Distributed Hash Table. However, for most routing schemes in this paradigm, when a node joins or leaves, large numbers of node...A new paradigm of scalable routing for ICN is to combine a geometric routing scheme with a Distributed Hash Table. However, for most routing schemes in this paradigm, when a node joins or leaves, large numbers of nodes, even the whole topology, need to be re-embedded, and a great number of contents need to be re-registered. In this paper, we propose D-Griffin, a geometric routing scheme on flat names for dynamic topologies. D-Griffin provides two advantages. First, it avoids re-embedding the topology by using an online greedy embedding scheme and a void handling greedy forwarding scheme. Second, it decreases the number of re-registrations by using a name mapping scheme with a tradeoff between topology independence and load balancing. Theoretical and experimental analyses show that D-Griffin provides guaranteed content lookup, low description complexity, low path stretch, scalable routing update, and acceptable load balancing.展开更多
This paper presents an overlay network topology called Virtual and Dynamic Hierarchical Architecture (VDHA) for discovering Grid services with high performance. Service discovery based on VDHA has scalable, autonomous...This paper presents an overlay network topology called Virtual and Dynamic Hierarchical Architecture (VDHA) for discovering Grid services with high performance. Service discovery based on VDHA has scalable, autonomous, efficient, reliable and quick responsive. We propose two service discovery algorithms. Full Search Query and Discovery Protocol (FSQDP) discovers the nodes that match the request message from all N nodes, which has time complexity O(logN), space complexity O(nvg) (nvg being node numbers of each virtual group), and message-cost O(N), and Domain-Specific Query and Discovery Protocol (DSQDP) searches nodes in only specific domains with time complexity O(nvg), space complexity O(nvg), and message-cost O(nvg). In this paper, we also describe VDHA, its formal definition, and Grid Group Management Protocol.展开更多
The topological structure of a complex dynamical network plays a vital role in determining the network＇s evolutionary mecha- nisms and functional behaviors, thus recognizing and inferring the network structure is of ...The topological structure of a complex dynamical network plays a vital role in determining the network＇s evolutionary mecha- nisms and functional behaviors, thus recognizing and inferring the network structure is of both theoretical and practical signif- icance. Although various approaches have been proposed to estimate network topologies, many are not well established to the noisy nature of network dynamics and ubiquity of transmission delay among network individuals. This paper focuses on to- pology inference of uncertain complex dynamical networks. An auxiliary network is constructed and an adaptive scheme is proposed to track topological parameters. It is noteworthy that the considered network model is supposed to contain practical stochastic perturbations, and noisy observations are taken as control inputs of the constructed auxiliary network. In particular, the control technique can be further employed to locate hidden sources （or latent variables） in networks. Numerical examples are provided to illustrate the effectiveness of the proposed scheme. In addition, the impact of coupling strength and coupling delay on identification performance is assessed. The proposed scheme provides engineers with a convenient approach to infer topologies of general complex dynamical networks and locate hidden sources, and the detailed performance evaluation can further facilitate practical circuit design.展开更多
This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of ...This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of essential importance in designing formation protocols. Formability of an MAS depends on several key factors： agents＇ dynamic structures, connectivity topology, properties of the desired formation and the admissible control set. Agents of the MASs considered here are described by a general continuous linear time-invariant （LTI） model. By using the matrix analysis and algebraic graph theory, some necessary and sufficient conditions on formability of LTI-MASs are obtained. These conditions characterize in some sense the relationship of formability, connectivity topology, formation properties and agent dynamics with respect to some typical and widely used admissible protocol sets.展开更多
基金Projects(61075065,60774045) supported by the National Natural Science Foundation of ChinaProject supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China
文摘Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.
基金supported in part by the National Key Basic Research Program of China(973 Program) under Grant No. 2011CB302605,2013CB329602the National Natural Science Foundation of China under Grant No.61202457,61402149
文摘A new paradigm of scalable routing for ICN is to combine a geometric routing scheme with a Distributed Hash Table. However, for most routing schemes in this paradigm, when a node joins or leaves, large numbers of nodes, even the whole topology, need to be re-embedded, and a great number of contents need to be re-registered. In this paper, we propose D-Griffin, a geometric routing scheme on flat names for dynamic topologies. D-Griffin provides two advantages. First, it avoids re-embedding the topology by using an online greedy embedding scheme and a void handling greedy forwarding scheme. Second, it decreases the number of re-registrations by using a name mapping scheme with a tradeoff between topology independence and load balancing. Theoretical and experimental analyses show that D-Griffin provides guaranteed content lookup, low description complexity, low path stretch, scalable routing update, and acceptable load balancing.
文摘This paper presents an overlay network topology called Virtual and Dynamic Hierarchical Architecture (VDHA) for discovering Grid services with high performance. Service discovery based on VDHA has scalable, autonomous, efficient, reliable and quick responsive. We propose two service discovery algorithms. Full Search Query and Discovery Protocol (FSQDP) discovers the nodes that match the request message from all N nodes, which has time complexity O(logN), space complexity O(nvg) (nvg being node numbers of each virtual group), and message-cost O(N), and Domain-Specific Query and Discovery Protocol (DSQDP) searches nodes in only specific domains with time complexity O(nvg), space complexity O(nvg), and message-cost O(nvg). In this paper, we also describe VDHA, its formal definition, and Grid Group Management Protocol.
基金supported by the National Science and Technology Major Project of China(Grant No.2014ZX10004001-014)the National Natural Science Foundation of China(Grant Nos.61573262,61532020&11472290)the Fundamental Research Funds for the Central Universities(Grant No.2014201020206)
文摘The topological structure of a complex dynamical network plays a vital role in determining the network＇s evolutionary mecha- nisms and functional behaviors, thus recognizing and inferring the network structure is of both theoretical and practical signif- icance. Although various approaches have been proposed to estimate network topologies, many are not well established to the noisy nature of network dynamics and ubiquity of transmission delay among network individuals. This paper focuses on to- pology inference of uncertain complex dynamical networks. An auxiliary network is constructed and an adaptive scheme is proposed to track topological parameters. It is noteworthy that the considered network model is supposed to contain practical stochastic perturbations, and noisy observations are taken as control inputs of the constructed auxiliary network. In particular, the control technique can be further employed to locate hidden sources （or latent variables） in networks. Numerical examples are provided to illustrate the effectiveness of the proposed scheme. In addition, the impact of coupling strength and coupling delay on identification performance is assessed. The proposed scheme provides engineers with a convenient approach to infer topologies of general complex dynamical networks and locate hidden sources, and the detailed performance evaluation can further facilitate practical circuit design.
基金supported by the National Nature Science Foundation of China under Grants Nos.60934006 and 61104136the Shandong Provincial Natural Science Foundation under Grant No.ZR2010FQ002+1 种基金the School Foundation of Qufu Normal University under Grant No.XJ200913the Scientific Research Foundation of Qufu Normal University
文摘This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of essential importance in designing formation protocols. Formability of an MAS depends on several key factors： agents＇ dynamic structures, connectivity topology, properties of the desired formation and the admissible control set. Agents of the MASs considered here are described by a general continuous linear time-invariant （LTI） model. By using the matrix analysis and algebraic graph theory, some necessary and sufficient conditions on formability of LTI-MASs are obtained. These conditions characterize in some sense the relationship of formability, connectivity topology, formation properties and agent dynamics with respect to some typical and widely used admissible protocol sets.
