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
For increased and various communication requirements of modem applications on embedded systems, general purpose protocol stacks and protocol models are not efficient because they are fixed to execute in the static mod...For increased and various communication requirements of modem applications on embedded systems, general purpose protocol stacks and protocol models are not efficient because they are fixed to execute in the static mode. We present the Component-Based Communication Protocol Architecture （CCPA） to make communication dynamic and configurable. It can develop, test and store the customized components for flexible reuse. The protocols are implemented by component assembly and support by configurable environments. This leads to smaller memory, more flexibility, more reconfiguration ability, better concurrency, and multiple data channel support.展开更多
The FIPA specification of MAS (multi agent system)is accepted by most of the applications of MAS in the world, and has been used in many projects. This paper draws an Abstract architecture from the FIPA based MAS, and...The FIPA specification of MAS (multi agent system)is accepted by most of the applications of MAS in the world, and has been used in many projects. This paper draws an Abstract architecture from the FIPA based MAS, and gives formalization about it.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Project (No. 2002AA1Z2306) supported by the Hi-Tech Researchand Development Program (863) of China
文摘For increased and various communication requirements of modem applications on embedded systems, general purpose protocol stacks and protocol models are not efficient because they are fixed to execute in the static mode. We present the Component-Based Communication Protocol Architecture （CCPA） to make communication dynamic and configurable. It can develop, test and store the customized components for flexible reuse. The protocols are implemented by component assembly and support by configurable environments. This leads to smaller memory, more flexibility, more reconfiguration ability, better concurrency, and multiple data channel support.
文摘The FIPA specification of MAS (multi agent system)is accepted by most of the applications of MAS in the world, and has been used in many projects. This paper draws an Abstract architecture from the FIPA based MAS, and gives formalization about it.
