Distributed Adaptive Cooperative Tracking of Uncertain Nonlinear Fractional-order Multi-agent Systems

In this paper, the leader-following tracking problem of fractional-order multi-agent systems is addressed. The dynamics of each agent may be heterogeneous and has unknown nonlinearities. By assumptions that the interaction topology is undirected and connected and the unknown nonlinear uncertain dynamics can be parameterized by a neural network, an adaptive learning law is proposed to deal with unknown nonlinear dynamics, based on which a kind of cooperative tracking protocols are constructed. The feedback gain matrix is obtained to solve an algebraic Riccati equation. To construct the fully distributed cooperative tracking protocols, the adaptive law is also adopted to adjust the coupling weight. With the developed control laws,we can prove that all signals in the closed-loop systems are guaranteed to be uniformly ultimately bounded. Finally, a simple simulation example is provided to illustrate the established result.

Asymptotical consensus of fractional-order multi-agent systems with current and delay states

In this paper,we study some new fractional-order multi-agent systems with current and delay states (FMASCD).Using the generalized Nyquist's stability criterion and Gerschgorin's circle theorem,we obtain the bounded input-bounded output (BIBO) stability and asymptotical consensus of the FMASCD under mild conditions.Moreover,we give some numerical examples to illustrate our main results.

Leader-following consensus of discrete-time fractional-order multi-agent systems

Leader-following consensus of fractional order multi-agent systems is investigated. The agents are considered as discrete-time fractional order integrators or fractional order double-integrators. Moreover, the interaction between the agents is described with an undirected communication graph with a fixed topology. It is shown that the leader-following consensus problem for the considered agents could be converted to the asymptotic stability analysis of a discrete-time fractional order system. Based on this idea, sufficient conditions to reach the leader-following consensus in terms of the controller parameters are extracted. This leads to an appropriate region in the controller parameters space. Numerical simulations are provided to show the performance of the proposed leader-following consensus approach.

Solving a Nonlinear Multi-Order Fractional Differential Equation Using Legendre Pseudo-Spectral Method

In this paper, we apply the Legendre spectral-collocation method to obtain approximate solutions of nonlinear multi-order fractional differential equations (M-FDEs). The fractional derivative is described in the Caputo sense. The study is conducted through illustrative example to demonstrate the validity and applicability of the presented method. The results reveal that the proposed method is very effective and simple. Moreover, only a small number of shifted Legendre polynomials are needed to obtain a satisfactory result.

Consensus problems of first-order dynamic multi-agent systems with multiple time delays

Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases： 1） continuous, 2） discrete, and 3） a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.

Cluster consensus of second-order multi-agent systems via pinning control

This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle. Finally, some simple simulations are presented to illustrate the technique.

Consensus problem of second-order multi-agent systems with time-varying communication delay and switching topology

Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.

Consensus of Second-order Multi-agent Systems with Nonsymmetric Interconnection and Heterogeneous Delays

In this paper, a consensus algorithm of multi-agent second-order dynamical systems with nonsymmetric interconnection and heterogeneous delays is studied. With the hypothesis of directed weighted topology graph with a globally reachable node, decentralized consensus condition is obtained by applying generalized Nyquist criterion. For the systems with both communication and input delays, it is shown that the consensus condition is dependent on input delays but independent of communication delays.

CONSENSUS OF THE SECOND-ORDER MULTI-AGENT SYSTEMS WITH AN ACTIVE LEADER AND COUPLING TIME DELAY

This article investigates the consensus problem of the second-order multi-agent systems with an active leader and coupling time delay in direct graph. One decentralized state control rule is constructed for each agent to track the active leader and it is proved that the proposed control scheme enables the consensus to be obtained when the adjacency topology is fixed/switched. Simulation results show effectiveness of the proposed theoretical analysis.

Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader

This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy.

Fractional-order Sparse Representation for Image Denoising

Sparse representation models have been shown promising results for image denoising. However, conventional sparse representation-based models cannot obtain satisfactory estimations for sparse coefficients and the dictionary. To address this weakness, in this paper, we propose a novel fractional-order sparse representation(FSR) model. Specifically, we cluster the image patches into K groups, and calculate the singular values for each clean/noisy patch pair in the wavelet domain. Then the uniform fractional-order parameters are learned for each cluster.Then a novel fractional-order sample space is constructed using adaptive fractional-order parameters in the wavelet domain to obtain more accurate sparse coefficients and dictionary for image denoising. Extensive experimental results show that the proposed model outperforms state-of-the-art sparse representation-based models and the block-matching and 3D filtering algorithm in terms of denoising performance and the computational efficiency.

Reference model based consensus control of second-order multi-agent systems

This paper deals with the consensus problem of multi-agent systems with second-order dynamics. The objective is to design algorithms such that all agents will have same positions and velocities. First, a reference model based consensus algorithm is proposed. It is proved that the consensus can be achieved if the communication graph has a spanning tree. Different from most of the consensus algorithms proposed in the literature, the parameters of the control laws are different among agents. Therefore, each agent can design its control law independently. Secondly, it gives a consensus algorithm for the case that the velocities of the agents are not available. Thirdly, the effectiveness of the input delay and the communication delay is considered. It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law. Finally, some numerical examples are given to illustrate the proposed results.

Consensus of high-order continuous-time multi-agent systems with time-delays and switching topologies

Consensus problems of high-order continuous-time multi-agent systems with time-delays and switching topologies are studied. The motivation of this work is to extend second-order continuous-time multi-agent systems from the liter- ature. It is shown that consensus can be reached with arbitrarily bounded time-delays even though the communication topology might not have spanning trees. A numerical example is included to show the theoretical results.

Distributed Fault Detection for Consensus in Second-Order Discrete-Time Multiagent Systems with Adversary

This paper is concerned with distributed fault detection of second-order discrete-time multi-agent systems with adversary,where the adversary is regarded as a slowly time-varying signal.Firstly,a novel intrusion detection scheme based on the theory of unknown input observability( UIO) is proposed. By constructing a bank of UIO,the states of the malicious agents can be directly estimated. Secondly,the faulty-node-removal algorithm is provided.Simulations are also provided to demonstrate the effectiveness of the theoretical results.

H_∞ consensus control of a class of second-order multi-agent systems without relative velocity measurement

This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.

Multi-agent consensus algorithm for second-order systems with a time-varying reference state

Two second-order consensus algorithms with a time-vary reference state without relative velocity measurements are proposed in a directed topology. Necessary and sufficient conditions are presented to ensure second-order consensus. It is shown that all the coupling strengths and the ei- genvalues of the Laplacian matrix play important roles in reaching consensus. Specially when all non- zero eigenvalues of the Laplacian matrix are real, consensus can be achieved if and only if the cou- pling strengths are positive and the directed topology has a spanning tree for the first algorithm, and for the second one, consensus can be achieved if and only if the coupling strengths are positive. Fi- nally, simulation examples are presented to verify the theoretical analysis.

Bounded consensus tracking of second-order multi-agent systems with sampling delay under directed networks

The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protocols based on sampled-data control are proposed so that each agent can track the time-varying reference state of the virtual leader. By using the delay decomposition approach, the augmented matrix method, and the frequency domain analysis, necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized. Furthermore, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

A Compact Finite Volume Scheme for the Multi-Term Time Fractional Sub-Diffusion Equation

In this paper, we introduce high-order finite volume methods for the multi-term time fractional sub-diffusion equation. The time fractional derivatives are described in Caputo’s sense. By using some operators, we obtain the compact finite volume scheme have high order accuracy. We use a compact operator to deal with spatial direction;then we can get the compact finite volume scheme. It is proved that the finite volume scheme is unconditionally stable and convergent in L∞-norm. The convergence order is O(τ2-α + h4). Finally, two numerical examples are given to confirm the theoretical results. Some tables listed also can explain the stability and convergence of the scheme.

基于协同学的Multi-Agent合作系统研究

探讨了协同学在Multi-Agent系统(MAS)合作中的应用;讨论了MAS的协同合作,给出了基于协同学的Multi-Agent的协同模型,量化了Multi-Agent协同机制的协调效应,为其最优协同机制的选择提供了依据。将序参量、自组织理论引入到MAS合作中,为MAS合作问题提供了一个新的解决思路。

分数阶Rayleigh-Duffing系统的主共振

利用多尺度法研究了谐波激励下分数阶Rayleigh-Duffing系统的主共振。首先,利用多尺度法得到系统的一次近似解析解,通过数值仿真发现解析解与数值解吻合较好,验证了近似解析解的准确性;然后,建立了稳态解的幅频方程及相频方程,基于Lyapunov稳定性理论得到了稳态解的稳定性条件;最后,通过数值仿真并结合幅频曲线,分析发现非线性刚度系数、线性阻尼系数以及分数阶阶次等参数对系统动力学特性有重要影响,这对此类系统的优化和控制有重要意义。