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CONSENSUS OF THE SECOND-ORDER MULTI-AGENT SYSTEMS WITH AN active leader AND COUPLING TIME DELAY

Acta Mathematica Scientia 2014年第2期34卷 453-465页

作者：郭万里肖海军陈士华 School of Mathematics and Physics China University of Geosciences School of Mathematics and Statistics Wuhan University

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.

关键词： Consensus problem second-order multi-agent system active leader couplingtime delay

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MULTI-AGENT TRACKING OF A HIGH-DIMENSIONAL active leader WITH SWITCHING TOPOLOGY

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Journal of Systems Science & Complexity 2009年第4期22卷 722-731页

作者： Yiguang HONG Xiaoli WANG Key Lab of Systems and Control,Institute of Systems Science,Academy of Mathematics and Systems Science,Chinese Academy of Sciences,Beijing 100190,China. Key Lab of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing 100190 China

This paper considers a multi-agent tracking problem for a high-dimensional active leaderand variable interconnection topology. The state of the leader not only keeps changing but also maynot be measured. To estimate the state such a leader individually, a neighbor-based local controllertogether with a neighbor-based state-estimation rule is given for each autonomous agent. Then, theauthors prove that, with the help of a constructed common Lyapunov function (CLF), each agent cantrack the active leader with unmeasurable states. Finally, the authors explicitly construct a CLF foran active leader with unknown periodic input for illustration.

关键词： active leader distributed algorithms multi-agent systems switching topology.

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active leader Tracking Control of Multi-agent Systems with Quantized Measurements

Active Leader Tracking Control of Multi-agent Systems with Q...

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第二十九届中国控制会议

作者： HU Jiangping 1,HONG Yiguang2,FENG Gang3 1.School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 610054,P.R.China2.Key Lab of Systems and Control,Institute of Systems Science,Chinese Academy of Sciences,Beijing 100190,P.R.China3.Department of MEEM,City University of Hong Kong,Kowloon,Hong Kong

This paper discusses tracking control problem with a discrete-time multi-agent system with active leader and quantized communication *** the active leader in a general linear form,we give a distributed design for each discrete-time agent in the leader tracking control problem and analyze the tracking convergence with the help of Riccati equation and common Lyapunov function when the communication channel is *** a stochastic quantization strategy is applied to model the information transmission in the agent coordination and the corresponding solution is also given,even if the interconnection topology is switching.

关键词： active leader Time-Varying Network High Order Dynamics Quantized Communication

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Consensus Problem of Multi-Agent Systems with an active leader and Time Delay

Consensus Problem of Multi-Agent Systems with an Active Lead...

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第25届中国控制会议

作者： Wang Jinhuan, Hu Jiangping, Cheng Daizhan Institute of Systems Science, Chinese Academy of Sciences, Beijing 100080

＜正＞In this paper, we consider the consensus problem of multi-agent systems with an active leader and variable interconnection topology. In our problem, the leader is active, that is, its states keep changing and may not be measured. To track such a leader, a neighbor-based control rule and state-estimation rule, both with time delay, are given for each autonomous agent. Then the tracking error is estimated. Particularly, it is proved that each agent can follow the leader if the （acceleration） input of the active leader is known.

关键词： Multi-agent systems consensus active leader time delay

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Tracking a High-Dimensional active leader of Switching Multi-agent Systems with Communication Delays

Tracking a High-Dimensional Active Leader of Switching Multi...

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第三十届中国控制会议

作者： TANG Yutao,HONG Yiguang Key Lab of Systems and Control,Academy of Mathematics and Systems Science, Chinese Academy of Sciences,Beijing 100190,P.R.China

＜正＞This paper considers a target tracking problem,and the dynamics of the target regarded as an active leader is given in a general form of linear *** multi-agent network contains communication delays and experiences switching interconnection. A distributed estimator is designed for each agent to obtain the unmeasurable state variables of the dynamic leader,and then a distributed feedback control law is developed to achieve the *** constructing a common Lyapunov function,a sufficient condition is given to guarantee that each agent can track the active ***,the input-to-state stability（ISS） is obtained for time-delay system in a disturbed environment.

关键词： Multi-agent System active leader leader-following Time-delay

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Connectivity Maintenance and Collective Consensus for Multi-Agent System with an active leader

Connectivity Maintenance and Collective Consensus for Multi-...

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第三十届中国控制会议

作者： WANG Lin~1,WANG Xiaofan~1,HU Xiaoming~2 1.Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,P.R.China 2.Optimization and Systems Theory,Royal Institute of Technology,Stockholm,Sweden SE-100 44

＜正＞In this paper,we study a leader-following consensus problem with an active leader and distance-determinant topology. In the scenario we consider,only the leader has the information of the desired motion,and only the followers located within a sensing zone can access to the information of the *** reach a desired global consensus,a neighbor-based local controller is developed for the *** prove that,under some initial conditions,the proposed control scheme can enable the followers to maintain connectivity,avoid collision,and track the varying-velocity *** are also presented to illustrate the theoretical results.

关键词： Consensus Connectivity leader-following active leader

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Consensus Analysis of Second-Order Agents with active leader and Time Delay via Impulsive Control

Consensus Analysis of Second-Order Agents with Active Leader...

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第三十届中国控制会议

作者： ZHU Wei~(1,2),YAN Chao~2 1.Center for System Theory and Applications,Chongqing University of Posts and Telecommunications,Chongqing,400065,P.R.China 2.Key Laboratory of Network Control & Intelligent Instrument of Ministry of Education,,Chongqing University of Posts and Telecommunications,Chongqing,400065,P.R.China

＜正＞In this paper,the leader-following consensus problem of second-order agents with time delay is *** designing an appropriate impulse sequence,and assuming that the leader is globally reachable at these impulse moments,the consensus error is estimated if the leader’s velocity is variable and the consensus is achieved if the leader’s velocity is constant. An example with simulation is given to illustrate the theoretical results.

关键词： Consensus Second-order agents Time delay Impulsive control active leader

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Second-order leader-following Tracking of Multi-agent Systems with Nonlinear Dynamics

Second-order Leader-following Tracking of Multi-agent System...

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第九届全国动力学与控制学术会议

作者： YAN Mengfei YU Wenwu CAO Jinde Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University

This paper studies second-order tracking problem with an active leader and general dyanmics in multi-agent dynamical systems where the network of the multi-agent systems may not be connected and the message of the velocity in real time cannot be *** active leader is introduced and some controllers and observers are designed for the multi-agent systems,where the velocity message of the leader is *** the proposed control schemes,we show that each agent can follow the leader *** this paper,a new Lyapunov function is

关键词： Multi-agent system Distributed control Distributed observer Second-order consensus active leader Switching topology

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