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
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
The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving t...The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving the consensus. The frequency-domain analysis, together with the algebra graph the- ory, is employed to derive the sufficient and necessary condition guaranteeing the average consensus. It is shown that introduc- ing the DSDF with the proper intensity in the existing consensus protocol can improve the robustness to communication delay. By analyzing the effect of DSDF on the closed-loop poles, this pa- per proves that for a supercritical-delay multi-agent system, this strategy can also accelerate the convergence speed of achieving the consensus with provided the proper intensity of the DSDE Simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value,...Consensus problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.展开更多
Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanne...Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.展开更多
This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employi...This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states and their time derivatives of all the agents in the network achieve consensus asymptotically, respectively, for appropriate communication timedelay if the topology of weighted network is connected. Particularly, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which reduces the complexity of connections between neighboring agents significantly. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for second-order consensus in networks in the presence of communication time-delays.展开更多
In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,non...In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.展开更多
This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is ...This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is destroyed by diverse time-delays which include communication time-delay and self time-delay. Based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem, some sufficient conditions for the consensus of multi-agent systems are obtained. And we give the expression of the weighted average consensus value for our consensus protocol. Finally, numerical examples are presented to illustrate the theoretical results.展开更多
A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with ...A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.展开更多
Due to people’s increasing dependence on social networks,it is essential to develop a consensus model considering not only their own factors but also the interaction between people.Both external trust relationship am...Due to people’s increasing dependence on social networks,it is essential to develop a consensus model considering not only their own factors but also the interaction between people.Both external trust relationship among experts and the internal reliability of experts are important factors in decision-making.This paper focuses on improving the scientificity and effectiveness of decision-making and presents a consensus model combining trust relationship among experts and expert reliability in social network group decision-making(SN-GDM).A concept named matching degree is proposed to measure expert reliability.Meanwhile,linguistic information is applied to manage the imprecise and vague information.Matching degree is expressed by a 2-tuple linguistic model,and experts’preferences are measured by a probabilistic linguistic term set(PLTS).Subsequently,a hybrid weight is explored to weigh experts’importance in a group.Then a consensus measure is introduced and a feedback mechanism is developed to produce some personalized recommendations with higher group consensus.Finally,a comparative example is provided to prove the scientificity and effectiveness of the proposed consensus model.展开更多
The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and proce...The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.展开更多
In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a di...In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a discrete-time consensus protocol and obtain the necessary and sufficient conditions for the second-order consensus of the second-order multi-agent system with a fixed structure under the condition of no saturation input.The theoretical derivation verifies that the two eigenvalues of the Laplacian of the communication network matrix and the sampling period have an important effect on achieving consensus.Then we construct and verify sufficient conditions to achieve consensus under the condition of input saturation constraints.The results show that consensus can be achieved if velocity,position gain,and sampling period satisfy a set of inequalities related to the eigenvalues of the Laplacian matrix.Finally,the accuracy and validity of the theoretical results are proved by numerical simulations.展开更多
The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ posit...The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.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
This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order ...This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.展开更多
The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters...The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters（MRPs）.Then global stable distributed cooperative attitude control laws are proposed for different cases.In the first case,the control law guarantees the state consensus during the attitude synchronization.In the second case,the control law ensures both the attitudes synchronizing to a desired constant attitude and the angular velocities converging at zero.In the third case,an attitude consensus control law with bounded control input is proposed.Finally,the effectiveness and validity of the control laws are demonstrated by simulations of six rigid bodies formation flying.展开更多
There exist many two-level group consensus problems with different psychological behaviors of decision makers.To deal with these group consensus problems and reach a stable consensus,based on the principles and method...There exist many two-level group consensus problems with different psychological behaviors of decision makers.To deal with these group consensus problems and reach a stable consensus,based on the principles and methods of grey system,utility theory and group consensus,we use grey utility function to describe and reflect decision makers’opinion preferences in different subgroups and different levels,and then we construct a two-level group consensus method with a moderator,and exploit it to solve the negotiation problems of the natural gas subsidy.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 (60574088 60874053)
文摘The delayed-state-derivative feedback （DSDF） is in- troduced into the existing consensus protocol to simultaneously improve the robustness to communication delay and accele- rate the convergence speed of achieving the consensus. The frequency-domain analysis, together with the algebra graph the- ory, is employed to derive the sufficient and necessary condition guaranteeing the average consensus. It is shown that introduc- ing the DSDF with the proper intensity in the existing consensus protocol can improve the robustness to communication delay. By analyzing the effect of DSDF on the closed-loop poles, this pa- per proves that for a supercritical-delay multi-agent system, this strategy can also accelerate the convergence speed of achieving the consensus with provided the proper intensity of the DSDE Simulations are provided to demonstrate the effectiveness of the theoretical results.
基金Projects(60474029,60774045,60604005) 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 problems for discrete-time multi-agent systems were focused on. In order to design effective consensus protocols, which were aimed at ensuring that the concerned states of agents converged to a common value, a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory. For discrete-time multi-agent systems with desired trajectory, trajectory tracking and formation control problems were studied. The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory. For a type of formation problem with fixed formation structure, the formation structure set was introduced. According to the formation structure set, each agent can track its individual desired trajectory. Finally, simulations were provided to demonstrate the effectiveness of the theoretical results. The mlmerical results show that the states of agents converge to zero with consensus protocol, which is said to achieve a consensus asymptotically. In addition, through designing appropriate trajectory controllers, the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.
基金Project(61473229)supported by the National Natural Science Foundation of ChinaProjects(310832163403,310832161012)supported by the Special Fund for Basic Scientific Research of Central Colleges,Chang'an University,ChinaProject(CXY1512-3)supported by the Xi'an Science and Technology Plan,China
文摘Consensus is an emerging technique using neighbor-to-neighbor interaction to generate steering commands for cooperative control of multiple vehicles. A three-dimensional formation keeping strategy for multiple unmanned aerial vehicles(multi-UAV) is proposed based on consensus, aiming at maintaining a specified geometric configuration. A formation control algorithm with guidance and corresponding flight controllers is given, managing position and attitude, respectively. In order to follow a three-dimensional predefined flight path, by introducing the tracking orders as reference states into the consensus, the formation control algorithm is designed, following the predefined flight path and maintaining geometric configuration simultaneously. The flight controllers are constructed by nonlinear dynamic inverse, including attitude design and velocity design. With the whole system composed of a nonlinear six-degree-of-freedom UAV model, the formation control algorithm and the flight controllers, the formation keeping strategy is closed loop and with full states. In simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the proposed strategy.
基金supported by the National Natural Science Foundation of China (6057408860274014)
文摘This paper proposes second-order consensus protocols with time-delays and gives the measure of the robustness of the protocols to the time-delay existing in the network of agents with second-order dynamics. By employing a frequency domain method, it is proven that the information states and their time derivatives of all the agents in the network achieve consensus asymptotically, respectively, for appropriate communication timedelay if the topology of weighted network is connected. Particularly, a tight upper bound on the communication time-delay that can be tolerated in the dynamic network is found. The consensus protocols are distributed in the sense that each agent only needs information from its neighboring agents, which reduces the complexity of connections between neighboring agents significantly. Numerical simulation results are provided to demonstrate the effectiveness and the sharpness of the theoretical results for second-order consensus in networks in the presence of communication time-delays.
基金This work was supported by Tianjin Natural Science Foundation of China(20JCYBJC01060,20JCQNJC01450)the National Natural Science Foundation of China(61973175)Tianjin Postgraduate Scientific Research and Innovation Project(2020YJSZXB03,2020YJSZXB12).
文摘In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.
基金supported by the National Natural Science Foundation of China(6127312661363002+3 种基金61374104)the Natural Science Foundation of Guangdong Province(10251064101000008S2012010009675)the Fundamental Research Funds for the Central Universities(2012ZM0059)
文摘This paper studies the weighted average consensus problem for networks of agents with fixed directed asymmetric unbalance information exchange topology. We suppose that the classical distributed consensus protocol is destroyed by diverse time-delays which include communication time-delay and self time-delay. Based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem, some sufficient conditions for the consensus of multi-agent systems are obtained. And we give the expression of the weighted average consensus value for our consensus protocol. Finally, numerical examples are presented to illustrate the theoretical results.
基金supported by the National Natural Sciences Foundation of China (60974146)
文摘A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.
基金the National Natural Science Foundation of China(71871121).
文摘Due to people’s increasing dependence on social networks,it is essential to develop a consensus model considering not only their own factors but also the interaction between people.Both external trust relationship among experts and the internal reliability of experts are important factors in decision-making.This paper focuses on improving the scientificity and effectiveness of decision-making and presents a consensus model combining trust relationship among experts and expert reliability in social network group decision-making(SN-GDM).A concept named matching degree is proposed to measure expert reliability.Meanwhile,linguistic information is applied to manage the imprecise and vague information.Matching degree is expressed by a 2-tuple linguistic model,and experts’preferences are measured by a probabilistic linguistic term set(PLTS).Subsequently,a hybrid weight is explored to weigh experts’importance in a group.Then a consensus measure is introduced and a feedback mechanism is developed to produce some personalized recommendations with higher group consensus.Finally,a comparative example is provided to prove the scientificity and effectiveness of the proposed consensus model.
基金supported by the National Natural Science Foundation of China(6087405361034006)
文摘The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.
基金supported by the National Natural Science Foundation of China(61703427).
文摘In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a discrete-time consensus protocol and obtain the necessary and sufficient conditions for the second-order consensus of the second-order multi-agent system with a fixed structure under the condition of no saturation input.The theoretical derivation verifies that the two eigenvalues of the Laplacian of the communication network matrix and the sampling period have an important effect on achieving consensus.Then we construct and verify sufficient conditions to achieve consensus under the condition of input saturation constraints.The results show that consensus can be achieved if velocity,position gain,and sampling period satisfy a set of inequalities related to the eigenvalues of the Laplacian matrix.Finally,the accuracy and validity of the theoretical results are proved by numerical simulations.
基金supported by the National Natural Science Foundation of China(61074031)
文摘The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.
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supported by the National Natural Science Foundation of China(6137510561403334)
文摘This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.
基金supported by the National Science Foundation of China (6097406260972119)the Chinese Ministry of Science and Intergovernmental Cooperation Project(2009DFA12870)
文摘The consensus problem of the distributed attitude synchronization in the spacecraft formation flying is considered.Firstly,the attitude dynamics of a rigid body spacecraft is described by modified Rodriguez parameters（MRPs）.Then global stable distributed cooperative attitude control laws are proposed for different cases.In the first case,the control law guarantees the state consensus during the attitude synchronization.In the second case,the control law ensures both the attitudes synchronizing to a desired constant attitude and the angular velocities converging at zero.In the third case,an attitude consensus control law with bounded control input is proposed.Finally,the effectiveness and validity of the control laws are demonstrated by simulations of six rigid bodies formation flying.
基金supported by the National Natural Science Foundation of China (71503103)the Outstanding Youth in Social Sciences of Jiangsu Provincethe Jiangsu Qinglan Project and the Tender Project from Wuxi Federation of Philosophy and Social Sciences(WXCK22-A-03).
文摘There exist many two-level group consensus problems with different psychological behaviors of decision makers.To deal with these group consensus problems and reach a stable consensus,based on the principles and methods of grey system,utility theory and group consensus,we use grey utility function to describe and reflect decision makers’opinion preferences in different subgroups and different levels,and then we construct a two-level group consensus method with a moderator,and exploit it to solve the negotiation problems of the natural gas subsidy.
