This paper investigates second-order consensus of multi-agent systems with a virtual leader of varying velocity while preserving network connectivity.We propose a novel second-order consensus algorithm with bounded co...This paper investigates second-order consensus of multi-agent systems with a virtual leader of varying velocity while preserving network connectivity.We propose a novel second-order consensus algorithm with bounded control inputs.Under the condition that the initial network is connected,the network will be connected all the time and all agents and the virtual leader can attain the same position and move with the same velocity.A simulation example is proposed to illustrate the effective of the proposed algorithm.展开更多
The accurate estimation of expressway traffic state can provide decision-making for both travelers and traffic managers. The speed is one of the most representative parameter of the traffic state. So the expressway sp...The accurate estimation of expressway traffic state can provide decision-making for both travelers and traffic managers. The speed is one of the most representative parameter of the traffic state. So the expressway speed spatial distribution can be taken as the expressway traffic state equivalent. In this paper, an algorithm based on virtual speed sensors (VSS) is presented to estimate the expressway traffic state (the speed spatial distribution). To gain the spatial distribution of expressway traffic state, virtual speed sensors are defined between adjacent traffic flow sensors. Then, the speed data extracted from traffic flow sensors in time series are mapped to space series to design virtual speed sensors. Then the speed of virtual speed sensors can be calculated with the weight matrix which is related with the speed of virtual speed sensors and the speed data extracted from traffic flow sensors and the speed data extracted from traffic flow sensors in time series. Finally, the expressway traffic state (the speed spatial distribution) can be gained. The acquisition of average travel speed of the expressway is taken for application of this traffic state estimation algorithm. One typical expressway in Beijing is adopted for the experiment analysis. The results prove that this traffic state estimation approach based on VSS is feasible and can achieve a high accuracy.展开更多
文摘This paper investigates second-order consensus of multi-agent systems with a virtual leader of varying velocity while preserving network connectivity.We propose a novel second-order consensus algorithm with bounded control inputs.Under the condition that the initial network is connected,the network will be connected all the time and all agents and the virtual leader can attain the same position and move with the same velocity.A simulation example is proposed to illustrate the effective of the proposed algorithm.
基金supported by the Beijing Science Foundation Plan Projects (Grant No. D07020601400707, D101106049710005)the National Hi-Tech Research and Development Program of China ("863" Project) (Grant No. 2006AA11Z231)the National Natural Science Foundation of China (Grant No. 61104164)
文摘The accurate estimation of expressway traffic state can provide decision-making for both travelers and traffic managers. The speed is one of the most representative parameter of the traffic state. So the expressway speed spatial distribution can be taken as the expressway traffic state equivalent. In this paper, an algorithm based on virtual speed sensors (VSS) is presented to estimate the expressway traffic state (the speed spatial distribution). To gain the spatial distribution of expressway traffic state, virtual speed sensors are defined between adjacent traffic flow sensors. Then, the speed data extracted from traffic flow sensors in time series are mapped to space series to design virtual speed sensors. Then the speed of virtual speed sensors can be calculated with the weight matrix which is related with the speed of virtual speed sensors and the speed data extracted from traffic flow sensors and the speed data extracted from traffic flow sensors in time series. Finally, the expressway traffic state (the speed spatial distribution) can be gained. The acquisition of average travel speed of the expressway is taken for application of this traffic state estimation algorithm. One typical expressway in Beijing is adopted for the experiment analysis. The results prove that this traffic state estimation approach based on VSS is feasible and can achieve a high accuracy.
