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Simultaneous attack of a stationary target using multiple missiles: a consensus-based approach

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Science China(Information Sciences) 2017年第7期60卷 67-80页

作者： Jialing ZHOU Jianying YANG Zhongkui LI State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University

This paper considers the simultaneous attack problem of multiple missiles against a stationary target. Built upon the classic proportional navigation structure, we propose a consensus-based approach to design the cooperative guidance law. Specifically, we present time-varying navigation ratios for the missiles,which exchange the time-to-go estimates between neighboring missiles via a communication network. For the cases where the communication topology is undirected or in the leader–follower structure with a missile acting as the leader whose navigation ratio cannot be tuned, we show that the proposed cooperative guidance law can solve the simultaneous attack problem. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

关键词： simultaneous attack consensus problem cooperative control distributed control guidance law design

Multi-agent coordination in directed moving neighbourhood random networks

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Chinese Physics B 2010年第7期19卷 15-22页

作者：尚轶伦 Department of Mathematics Shanghai Jiao Tong University

This paper considers the consensus problem of dynamical multiple agents that communicate via a directed moving neighbourhood random network. Each agent performs random walk on a weighted directed network. Agents interact with each other through random unidirectional information flow when they coincide in the underlying network at a given instant. For such a framework, we present sufficient conditions for almost sure asymptotic consensus. Numerical examples are taken to show the effectiveness of the obtained results.

关键词： multi-agent system consensus problem stochastic stability

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Dynamic consensus of High-order Multi-agent Systems and Its Application in the Motion Control of Multiple Mobile Robots

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International Journal of Automation and computing 2012年第1期9卷 54-62页

作者： Zhong-Qiang Wu Yang Wang Key Laboratory of Industrial Computer Control Engineering Yanshan UniversityQiuhuangdao 066004PRC

In this paper, the leader-following consensus problem for multi-agent linear dynamic systems is considered. All agents and leader have identical multi-input multi-output （MIMO） linear dynamics that can be of any order, and only the output information of each agent is delivered throughout the communication network. When the interaction topology is fixed, the leader-following consensus is attained by Ho~ dynamic output feedback control, and the sufficient condition of robust controllers is equal to the solvability of linear matrix inequality （LMI）. The whole analysis is based on spectral decomposition and an equivalent decoupled structure achieved, and the stability of the system is proved. Finally, we extended the theoretical results to the case that the interaction topology is switching. The simulation results for multiple mobile robots show the effectiveness of the devised methods.

关键词： Multi-agent systems consensus problem dynamic output feedback linear matrix inequality （LMI） multiple mobile robots.

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

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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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consensus Algorithm for Second-Order Networks with Time-Delays

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International Journal of Systems and Control

International Journal of Systems and Control 2008年第3期 199-209页

作者： Lü Sheng-yang,SUN Hong-fei Department of Automation,Xiamen University,Xiamen 361005,China

In this paper,we study the consensus problem for second-order dynamic networks with time-delays.We find out that the solvability of asymptotic consensus for a network with time-delays is equivalent to the globally asymptotic stability at its zero equilibrium of the corresponding system.In other words,the stability theories play an important role in address-ing the consensus problem for the second-order dynamic networks.In addition,we introduce a Linear Matrix Inequality(LMI) by employing the Lyapunov Stability Method.Using this LMI,we can estimate the allowable time-delay bound for a second-order dynamic network with time-delays.

关键词： consensus problem Linear Matrix Inequality Directed graph(digraph) Undirected graph

Leaderless and Non-static Position consensus Algorithm for Multi-manipulator Systems under Undirected Communication Topology

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Leaderless and Non-static Position Consensus Algorithm for M...

第37届中国控制会议

作者： Zhao Tan Fengmin Yu Qiaoqian Chen School of Automation Hangzhou Dianzi University

This paper focuses on the non-static position consensus problem of the multi-manipulator system. Under the undirected communication topology, the leaderless and non-static position consensus algorithm is proposed for the multi-manipulator system, which eventually makes manipulators to achieve consistent positions and constant velocities. Based on the graph theory and the Matrosov’s theorem, it is proved that the system can achieve a state consensus. Finally, the numerical simulation based on the planar two-link manipulators system is performed to verify the validity of the control protocol.

关键词： Multi-manipulator system Graph theory consensus problem Leaderless

Tracking Control for Multi-agent consensus for Discrete-time Case

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Tracking Control for Multi-agent Consensus for Discrete-time...

2011 Chinese Control and Decision Conference（CCDC）

作者： Fang Wang,Lixin Gao,Liyong Wang are with the Institute of Operations Research and Control Sciences,Wenzhou University,Zhejiang 325035,China.

In this paper,we consider the leader-following consensus problem of a group of autonomous agents with discrete-time model.The velocity of the active leader is assumed to be unknown in real time.To track the active leader,a neighbor-based local control law and a neighbor-based stateestimation rule for each autonomous agent was provided.By using the graph theory,matrix theory and Lyapunov function method,some sufficient conditions are established for the consensus stability of the considered systems under fixed topology case and switching topology case respectively.Finally,numerical simulations are given to show the effectiveness of our theoretical results.

关键词： Multi-agent system Discrete-time system Swicth System consensus problem Lyapunov function method

consensus based distributed estimation with sensor selection strategies in energy constrained wireless sensor networks

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Consensus based distributed estimation with sensor selection...

第24届中国控制与决策会议

作者： Wen Yang 1 ,Hongbo Shi 1 1. Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology), Ministry of Education, Shanghai, 200237

In the applications of wireless sensor networks（WSNs）, sensor energy saving is essential to increase the life of sensor networks. In this paper, we consider the problem of performing consensus based estimation over energy constrained WSNs, in which energy is conserved by selecting only a subset of sensors to observe the state of the dynamical system at each time step. First, we derive an sufficient condition for the convergence of the state estimation covariance. Second, we propose a sensor selection strategy to schedule sensors to measure the system state for next step with the goal of minimizing the state estimation error subject to sensor energy constraint. Finally, we provide some numerical examples to illustrate the performance and effectiveness of the proposal strategy.

关键词： consensus problem Kalman filter state estimation convex optimization

Quasi-Average-consensus of Directed Hybrid Swarm Agents

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Quasi-Average-Consensus of Directed Hybrid Swarm Agents

第二十七届中国控制会议

作者： Gu Mingqin,Song Yunzhong Complex Networks Lab.School of Electrical&Automation,Henan Polytechnic University,Jiaozuo 454000,P.R.china

consensus problem of directed multi-agents networks with heterogeneous nodes of mixed first and second order integrator is covered.Corresponding quasi-average-consensus protocol is proposed for both fixed and switching topology cases.Stability analysis based on Lyapunov function together with algebra graph theory shows that quasi-average-consensus can be realized.Numerical results are also given to verify the effectiveness of the suggested scheme.

关键词： consensus problem Heterogeneous multi-agents Quasi-average consensus Directed network