Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditiona...Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.展开更多
A model of nonlinear differential systems with impulsive effect on random moments is considered. The extensions of qualitative analysis of the model is mainly focused on and three modified sufficient conditions are pr...A model of nonlinear differential systems with impulsive effect on random moments is considered. The extensions of qualitative analysis of the model is mainly focused on and three modified sufficient conditions are presented about p-moment boundedness in the process by Liapunov method with nonlinear item dependent on the impulsive effects, which may gain wider use in industrial engineering, physics, etc. At last, an example is given to show an theoretical application of the obtained results.展开更多
If a 3-tuple (A:H_1→H_1,B:H_2→H_1,C:H_2→H_2) of operators on Hilbert spaces is given,we proved that the operator A:= on H=H_1⊕H_2 is≥0 if and only if A≥0,R(B) R(A1/2)and C≥B~* A^+ B, where A^+ is the generalize...If a 3-tuple (A:H_1→H_1,B:H_2→H_1,C:H_2→H_2) of operators on Hilbert spaces is given,we proved that the operator A:= on H=H_1⊕H_2 is≥0 if and only if A≥0,R(B) R(A1/2)and C≥B~* A^+ B, where A^+ is the generalized inverse of A. In general,A^+ is a closed operator,but since R(B) R(A1/2),B~* A^+ B is bounded yet.展开更多
基金The National Natural Science Foundation of China(No.61273110)the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002)
文摘Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.
基金The Special Research Funds for Young Col-lege Teacher of Shanghai (No. 355877)
文摘A model of nonlinear differential systems with impulsive effect on random moments is considered. The extensions of qualitative analysis of the model is mainly focused on and three modified sufficient conditions are presented about p-moment boundedness in the process by Liapunov method with nonlinear item dependent on the impulsive effects, which may gain wider use in industrial engineering, physics, etc. At last, an example is given to show an theoretical application of the obtained results.
文摘If a 3-tuple (A:H_1→H_1,B:H_2→H_1,C:H_2→H_2) of operators on Hilbert spaces is given,we proved that the operator A:= on H=H_1⊕H_2 is≥0 if and only if A≥0,R(B) R(A1/2)and C≥B~* A^+ B, where A^+ is the generalized inverse of A. In general,A^+ is a closed operator,but since R(B) R(A1/2),B~* A^+ B is bounded yet.
