This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune s...Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune system （BIS） according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system （MAS）, the vaccine and the danger theory （DT）. Moreover a new immune multi-agent model using vaccine based on DT （IMMUVBDT） for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.展开更多
In multi-agent systems(MAS),finding agents which are able to service properly in an open and dynamic environment are the key issue in problem solving.However,it is difficult to find agent resources quickly and positio...In multi-agent systems(MAS),finding agents which are able to service properly in an open and dynamic environment are the key issue in problem solving.However,it is difficult to find agent resources quickly and position agents accurately and complete the system integration by the keyword matching method,due to the lack of clear semantic information of the classical agent model.An semantic-based agent dynamic positioning mechanism was proposed to assist in the system dynamic integration.According to the semantic agent model and the description method,a two-stage process including the domain positioning stage and the service semantic matching positioning stage,was discussed.With this mechanism,proper agents that provide appropriate service to assign sub-tasks for task completion can be found quickly and accurately.Finally,the effectiveness of the positioning mechanism was validated through the in-depth performance analysis in the application of simulation experiments to the system dynamic integration.展开更多
For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.T...For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.To study fast consensus seeking problems of multi-agent systems in undirected networks,a consensus protocol is proposed which considers the average information of the agents＇ states in a certain time interval,and a consensus convergence criterion for the system is obtained.Based on the frequency-domain analysis and algebra graph theory,it is shown that if the time interval is chosen properly,then requiring the same maximum control effort the proposed protocol reaches consensus faster than the standard consensus protocol.Simulations are provided to demonstrate the effectiveness of these theoretical results.展开更多
Theoretical analysis of consensus for networked multi-agent systems with switching topologies was conducted.Supposing that information-exchange topologies of networked system are dynamic,a modified linear protocol is ...Theoretical analysis of consensus for networked multi-agent systems with switching topologies was conducted.Supposing that information-exchange topologies of networked system are dynamic,a modified linear protocol is proffered which is more practical than existing ones.The definition of trajectory consensus is given and a new consensus protocol is exhibited such that multi-agent system achieves trajectory consensus.In addition,a formation control strategy is designed.A common Lyapunov function is proposed to analyze the consensus convergence of networked multi-agent systems with switching topologies.Simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the proto...Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.展开更多
Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method f...Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor faults.Firstly,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system form.Then,a sliding mode-based distributed unknown input observer is proposed to estimate the extended state.Furthermore,adaptive laws are introduced to adjust the observer parameters.Finally,the effectiveness of the proposed method is demonstrated with numerical simulations.展开更多
The hypersonic target detection and recognition system is studied,on the basis of overall planning and design,a multi-agent system(MAS)structure and intelligent+information processing mechanism based on target detecti...The hypersonic target detection and recognition system is studied,on the basis of overall planning and design,a multi-agent system(MAS)structure and intelligent+information processing mechanism based on target detection and recognition are proposed,and the multi-agent operation process is analyzed and designed in detail.In the specific agents construction,the information fusion technology is introduced to defining the embedded agents and their interrelations in the system structure,and the intelligent processing ability of complex and uncertain problems is emphatically analyzed from the aspects of autonomy and collaboration.The aim is to optimize the information processing strategy of the hypersonic target detection and recognition system and improve the robustness and rapidity of the system.展开更多
Manufacturing systems are in a dynamically changing e nvironment with uncertainty. Management of complexity, changes and disturbances is one of the key issues of production. The traditional hierarchical control of CIM...Manufacturing systems are in a dynamically changing e nvironment with uncertainty. Management of complexity, changes and disturbances is one of the key issues of production. The traditional hierarchical control of CIM systems limits the agility and the flexibility of the shop floor control sys tems and makes the reconfiguration and maintenance of shop floor control systems need high cost and much time. So new architectures are required to meet these c hallenges for the shop floor control systems. Recent fundamental research in distributed artificial intelligence and related applied research in intelligent manufacturing systems have shown that the Multi -Agent based system is one of the most promising methods. In a multi-agent man ufacturing system, the agents react to the information acquired from environment and communicate with other agents to co-operate to solve the global problem. I n this paper, a framework of reconfigurable shop floor control system based on m ulti-agent is presented. The concept of dynamic and logical manufacturing cell is proposed to organize manufacturing resources to achieve the ability of re configuration in dynamic shop floor environment. The framework is composed of three levels. First, the level of shop floor comp rises order agent, resource management agent, product management agent and t ask agent. Second, the level of dynamical cells consists of production agents an d control agents. Finally, the resource agents, such as AGV agents and machine a gents, belong to the equipment level. The control architecture in the framework is different from hierarchical control. It is hybrids of hierarchical and hetera rchical control architecture. The Contract Net protocol and its bidding mechanism are suitable and efficient t o implement the dynamic and logical manufacturing cells. Based on the Contract N et Model, dynamic negotiation during the process of forming the dynamic and logi cal manufacturing cells is analyzed in the paper. In this paper the dynamic and logical manufacturing cell is the basis of the r econfiguration of multi-agent systems. It is organized in logical way while the traditional cell based on GT (group technology) is organized in physical way. I n the framework, resource agents are organized according to orders coming to sho p floor, and dismissed when the tasks are finished. Dynamically created cells ca n be overlapped in shop floor so that resource agents may belong to more than on e dynamic and logical manufacturing cells at a time. The order-oriented product ion agents and control agents that are created dynamically exist for the dur ation of the task and are destroyed when the task is completed. They have the li fecycle of creation, execution and destruction. Control agents are the coordinat ors and monitors that are responsible for organizing resource agents and monitor ing disturbances, but they are not strict controllers. They may recruit new reso urce agents into cells when disturbances such as machine breakdown appear. In the paper, the software architecture of shop floor control system based on Multi-Agent is also presented. And the distributed object technology based on C ORBA and KQML language are discussed.展开更多
Integrated standardization is one of the fundamenta l forms of modern standardization. It is the combination of system science and the content of standardization. The development of system science has provided theo re...Integrated standardization is one of the fundamenta l forms of modern standardization. It is the combination of system science and the content of standardization. The development of system science has provided theo retic foundation and precondition for integrated standardization. The relevant r esearch on integrated standardization and system engineering illustrate that int egrated standardization is a advanced method which presented with the developmen t of modern science and technology . Integrated standardization treat the re levant factors of standardization as a system, and wholly standarlize the factor s in order to reach the best level of technology and quality. Integrated standardization is a large system engineering. In modern industr y the contact among different departments is being constantly enlarged and t he complexity of product is being constantly increased. This situation demands s trict correspond and united request in all the following aspects: raw mate rial, organs, fittings, technical measures of production, preparation for produc tion, ways of organizing the production. The traditional measure which establish the respective standard separately must be replaced by multi-spetialty standa rdization in large spectrum. The current situation and the development of syste m science has provided theoretic foundation and precondition for this kind of st andardization. Product or project can be managed with system engineering of proj ect, while the correspond standardization can be managed with system engineering of standardization. Integrated standardization virtually is system engineering of standardization, w hich use the theory to deal with the problem about standardization . This thesis included 3 chapters: 1. the brief summary of integrated standardization and sys tem engineering management in the development of type in foreign countries; 2. t he current situation and existing problems in the development of products; 3. ho w to organize and actualize integrated standardization and system engineering ma nagement in the development of products.展开更多
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
文摘Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune system （BIS） according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system （MAS）, the vaccine and the danger theory （DT）. Moreover a new immune multi-agent model using vaccine based on DT （IMMUVBDT） for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.
基金Projects(61173026,61373045,61202039)supported by the National Natural Science Foundation of ChinaProject(2012AA02A603)supported by the National High Technology Research and Development Program of China+1 种基金Projects(K5051223008,K5051223002)supported by the Fundamental Research Funds for the Central Universities of ChinaProject(513***103E)supported by the Pre-Research Project of the"Twelfth Five-Year-Plan"of China
文摘In multi-agent systems(MAS),finding agents which are able to service properly in an open and dynamic environment are the key issue in problem solving.However,it is difficult to find agent resources quickly and position agents accurately and complete the system integration by the keyword matching method,due to the lack of clear semantic information of the classical agent model.An semantic-based agent dynamic positioning mechanism was proposed to assist in the system dynamic integration.According to the semantic agent model and the description method,a two-stage process including the domain positioning stage and the service semantic matching positioning stage,was discussed.With this mechanism,proper agents that provide appropriate service to assign sub-tasks for task completion can be found quickly and accurately.Finally,the effectiveness of the positioning mechanism was validated through the in-depth performance analysis in the application of simulation experiments to the system dynamic integration.
基金supported by the National Natural Science Foundation of China (6087405360574088)
文摘For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.To study fast consensus seeking problems of multi-agent systems in undirected networks,a consensus protocol is proposed which considers the average information of the agents＇ states in a certain time interval,and a consensus convergence criterion for the system is obtained.Based on the frequency-domain analysis and algebra graph theory,it is shown that if the time interval is chosen properly,then requiring the same maximum control effort the proposed protocol reaches consensus faster than the standard consensus protocol.Simulations are provided to demonstrate the effectiveness of these theoretical results.
基金Projects(61075065, 60774045) supported by the National Natural Science Foundation of China Project(CX2010B080) supported by Hunan Provincial Innovation Foundation For Postgraduate,China
文摘Theoretical analysis of consensus for networked multi-agent systems with switching topologies was conducted.Supposing that information-exchange topologies of networked system are dynamic,a modified linear protocol is proffered which is more practical than existing ones.The definition of trajectory consensus is given and a new consensus protocol is exhibited such that multi-agent system achieves trajectory consensus.In addition,a formation control strategy is designed.A common Lyapunov function is proposed to analyze the consensus convergence of networked multi-agent systems with switching topologies.Simulations are provided to demonstrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China (6093400361074065)+1 种基金the National Basic Research Program of China (973 Program) (2010CB731800)the Key Project for Natural Science Research of Hebei Education Department (ZD200908)
文摘Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.
基金supported by the National Natural Science Foundation of China(62020106003,62003162)111 project(B20007)+1 种基金the Natural Science Foundation of Jiangsu Province of China(BK20200416)the China Postdoctoral Science Foundation(2020TQ0151,2020M681590).
文摘Component failures can cause multi-agent system(MAS)performance degradation and even disasters,which provokes the demand of the fault diagnosis method.A distributed sliding mode observer-based fault diagnosis method for MAS is developed in presence of actuator and sensor faults.Firstly,the actuator and sensor faults are extended to the system state,and the system is transformed into a descriptor system form.Then,a sliding mode-based distributed unknown input observer is proposed to estimate the extended state.Furthermore,adaptive laws are introduced to adjust the observer parameters.Finally,the effectiveness of the proposed method is demonstrated with numerical simulations.
基金This work was supported by the National Natural Science Foundation of China(61471391).
文摘The hypersonic target detection and recognition system is studied,on the basis of overall planning and design,a multi-agent system(MAS)structure and intelligent+information processing mechanism based on target detection and recognition are proposed,and the multi-agent operation process is analyzed and designed in detail.In the specific agents construction,the information fusion technology is introduced to defining the embedded agents and their interrelations in the system structure,and the intelligent processing ability of complex and uncertain problems is emphatically analyzed from the aspects of autonomy and collaboration.The aim is to optimize the information processing strategy of the hypersonic target detection and recognition system and improve the robustness and rapidity of the system.
文摘Manufacturing systems are in a dynamically changing e nvironment with uncertainty. Management of complexity, changes and disturbances is one of the key issues of production. The traditional hierarchical control of CIM systems limits the agility and the flexibility of the shop floor control sys tems and makes the reconfiguration and maintenance of shop floor control systems need high cost and much time. So new architectures are required to meet these c hallenges for the shop floor control systems. Recent fundamental research in distributed artificial intelligence and related applied research in intelligent manufacturing systems have shown that the Multi -Agent based system is one of the most promising methods. In a multi-agent man ufacturing system, the agents react to the information acquired from environment and communicate with other agents to co-operate to solve the global problem. I n this paper, a framework of reconfigurable shop floor control system based on m ulti-agent is presented. The concept of dynamic and logical manufacturing cell is proposed to organize manufacturing resources to achieve the ability of re configuration in dynamic shop floor environment. The framework is composed of three levels. First, the level of shop floor comp rises order agent, resource management agent, product management agent and t ask agent. Second, the level of dynamical cells consists of production agents an d control agents. Finally, the resource agents, such as AGV agents and machine a gents, belong to the equipment level. The control architecture in the framework is different from hierarchical control. It is hybrids of hierarchical and hetera rchical control architecture. The Contract Net protocol and its bidding mechanism are suitable and efficient t o implement the dynamic and logical manufacturing cells. Based on the Contract N et Model, dynamic negotiation during the process of forming the dynamic and logi cal manufacturing cells is analyzed in the paper. In this paper the dynamic and logical manufacturing cell is the basis of the r econfiguration of multi-agent systems. It is organized in logical way while the traditional cell based on GT (group technology) is organized in physical way. I n the framework, resource agents are organized according to orders coming to sho p floor, and dismissed when the tasks are finished. Dynamically created cells ca n be overlapped in shop floor so that resource agents may belong to more than on e dynamic and logical manufacturing cells at a time. The order-oriented product ion agents and control agents that are created dynamically exist for the dur ation of the task and are destroyed when the task is completed. They have the li fecycle of creation, execution and destruction. Control agents are the coordinat ors and monitors that are responsible for organizing resource agents and monitor ing disturbances, but they are not strict controllers. They may recruit new reso urce agents into cells when disturbances such as machine breakdown appear. In the paper, the software architecture of shop floor control system based on Multi-Agent is also presented. And the distributed object technology based on C ORBA and KQML language are discussed.
文摘Integrated standardization is one of the fundamenta l forms of modern standardization. It is the combination of system science and the content of standardization. The development of system science has provided theo retic foundation and precondition for integrated standardization. The relevant r esearch on integrated standardization and system engineering illustrate that int egrated standardization is a advanced method which presented with the developmen t of modern science and technology . Integrated standardization treat the re levant factors of standardization as a system, and wholly standarlize the factor s in order to reach the best level of technology and quality. Integrated standardization is a large system engineering. In modern industr y the contact among different departments is being constantly enlarged and t he complexity of product is being constantly increased. This situation demands s trict correspond and united request in all the following aspects: raw mate rial, organs, fittings, technical measures of production, preparation for produc tion, ways of organizing the production. The traditional measure which establish the respective standard separately must be replaced by multi-spetialty standa rdization in large spectrum. The current situation and the development of syste m science has provided theoretic foundation and precondition for this kind of st andardization. Product or project can be managed with system engineering of proj ect, while the correspond standardization can be managed with system engineering of standardization. Integrated standardization virtually is system engineering of standardization, w hich use the theory to deal with the problem about standardization . This thesis included 3 chapters: 1. the brief summary of integrated standardization and sys tem engineering management in the development of type in foreign countries; 2. t he current situation and existing problems in the development of products; 3. ho w to organize and actualize integrated standardization and system engineering ma nagement in the development of products.
