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TARGET AGGREGATION OF SECOND-ORDER MULTI-AGENT SYSTEMS WITH SWITCHING INTERCONNECTION

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Journal of Systems Science & Complexity 2012年第3期25卷 430-440页

作者： Youcheng LOU Yiguang HONG Guodong SHI Key Lab of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences access linnaeus centre School of Electrical EngineeringRoyal Institute of Technology

In this paper, the target aggregation is investigated for a multi-agent system consisting of second-order agents and multiple leaders. Sufficient conditions are proposed to make the agents approach the target set spanned by these moving leaders. With the condition on switching interconnection topologies, all mobile agents can asymptotically track the dynamical target set specified by multiple moving leaders with bounded error. Moreover, discussion on the case with static leaders is also given.

关键词： Multi-agent systems multiple leaders switching interconnection topologies target ag-gregation.

Event-Triggered Control for Multi-Agent Systems with Output Saturation 36

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Event-Triggered Control for Multi-Agent Systems with Output ...

Asymptotic properties of distributed social sampling algorithm

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作者： Xinlei Yi Tao Yang Junfeng Wu Karl H.Johansson the access linnaeus centre Electrical EngineeringKTH Royal Institute of Technology The Department of Electrical Engineering University of North Texas

ISBN: (纸本)9781538629185

We propose distributed static and dynamic event-triggered control laws to solve the consensus problem for multiagent systems with output *** the condition that the underlying graph is undirected and connected,we show that consensus is achieved under both event-triggered control laws if and only if the average of the initial states is within the saturation *** simulations are provided to illustrate the effectiveness of the theoretical results and to show that the control laws lead to reduced need for inter-agent communications.

关键词： Consensus Event-triggered control Multi-agent systems Output saturation

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Science China(Information Sciences) 2020年第1期63卷 152-166页

作者： Qian LIU Xingkang HE Haitao FANG The Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences access linnaeus centre School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology

Social sampling is a novel randomized message passing protocol inspired by social communication for opinion formation in social networks. In a typical social sampling algorithm, each agent holds a sample from the empirical distribution of social opinions at initial time, and it collaborates with other agents in a distributed manner to estimate the initial empirical distribution by randomly sampling a message from current distribution estimate. In this paper, we focus on analyzing the theoretical properties of the distributed social sampling algorithm over random networks. First, we provide a framework based on stochastic approximation to study the asymptotic properties of the algorithm. Then, under mild conditions, we prove that the estimates of all agents converge to a common random distribution, which is composed of the initial empirical distribution and the accumulation of quantized error. Besides, by tuning algorithm parameters, we prove the strong consistency, namely, the distribution estimates of agents almost surely converge to the initial empirical distribution. Furthermore, the asymptotic normality of estimation error generated by distributed social sample algorithm is addressed. Finally, we provide a numerical simulation to validate the theoretical results of this paper.

关键词： social networks opinion formation social sampling stochastic approximation random networks asymptotic normality

Basis for the quotient space of matrices under equivalence

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Science China(Information Sciences) 2020年第8期63卷 248-250页

作者： Kuize ZHANG access linnaeus Center School of Electrical Engineering and Computer ScienceKTH Royal Institute of Technology College of Automation Harbin Engineering University

Dear editor,The semi-tensor product (STP) of matrices, proposed by Cheng in 2001 [1], is a generalization of the conventional matrix product and well defined at every two finite-dimensional matrices. In2016, Cheng [2] proposed a new concept of semitensor addition (STA), which is a generalization of the conventional matrix addition and well defined at every two finite-dimensional matrices with the same ratio between the numbers of rows and

关键词： matrix equivalence basis Boolean network semitensor product semitensor addition

Distributed non-cooperative robust MPC based on reduced-order models

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Control Theory and Technology 2016年第1期14卷 11-20页

作者： Yushen LONG Shuai LIU Lihua XIE Karl Henrik JOHANSSON School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore access linnaeus Center School of Electrical Engineering Royal Institute of Technology SE-100 44 Stockholm Sweden

In this paper, a non-cooperative distributed MPC algorithm based on reduced order model is proposed to stabilize large-scale systems. The large-scale system consists of a group of interconnected subsystems. Each subsystem can be partitioned into two parts： measurable part, whose states can be directly measured by sensors, and the unmeasurable part. In the online computation phase, only the measurable dynamics of the corresponding subsystem and neighbour-to-neighbour communication are necessary for the local controller design. Satisfaction of the state constraints and the practical stability are guaranteed while the complexity of the optimization problem is reduced. Numerical examples are given to show the effectiveness of this algorithm.

关键词： Model predictive control distributed control building energy efficiency

COOPERATIVE SHIFT ESTIMATION OF TARGET TRAJECTORY USING CLUSTERED SENSORS

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Journal of Systems Science & Complexity 2014年第3期27卷 413-429页

作者： HU Jiangping HU Xiaoming SHEN Tielong School of Automation Engineering University of Electronic Science and Technology of China Optimization and Systems Theory and access linnaeus Center Royal Institute of TechnologyStockholmSweden Department of Engineering and Applied Sciences Sophia UniversityTokyoJapan

In this paper,a mathematical model for target tracking using nonlinear scalar range sensors is formulated first.A time-shift sensor scheduling strategy is addressed on the basis of a k-barrier coverage protocol and all the sensors are divided into two classes of clusters,active cluster,and submissive cluster,for *** two types of time-shift nonlinear filters are proposed for both active and submissive clusters to estimate the trajectory of the moving target with disturbed *** stochastic stability of the two filters is ***,some numerical simulations are given to demonstrate the effectiveness of the new filters with a comparison of EKF.

关键词： Cluster sensor network target tracking time-shift estimation

Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao Ziyang Meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the access linnaeus centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms Mobile robots Robot kinematics Trajectory Dispersion Decentralized control

Packet combining based on cross-packet coding

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Science China(Information Sciences) 2013年第2期56卷 16-25页

作者： LIN DengSheng XIAO Ming LI ShaoQian National Key Lab. of Science and Technology on Communications University of Electronic Science and Technology of China access linnaeus Center School of Electrical Engineering Royal Institute of Technology (KTH)

We propose a packet combining scheme of using cross-packet coding. With the coding scheme, one redundant packet can be used to ensure the error-correction of multiple source packets. Thus, the proposed scheme can increase the code rate. Moreover, the proposed coding scheme has also advantages of decoding complexity, reducing undetectable errors (by the proposed low-complexity decoder) and flexibility (applicable to channels with and without feedback). Theoretical analysis under the proposed low-complexity decoding algorithm is given to maximize the code rate by optimizing the number of source packets. Finally, we give numerical results to demonstrate the advantages of the proposed scheme in terms of code rates compared to the traditional packet combining without coding or ARQ (automatic repeat-request) techniques.

关键词： packet combining coding ARQ feedback error correction

CONSENSUS CONTROL DESIGN FOR MULTI-AGENT SYSTEMS USING RELATIVE OUTPUT FEEDBACK

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Journal of Systems Science & Complexity 2014年第2期27卷 237-251页

作者： WANG Jinhuan LIU Zhixin HU Xiaoming School of Sciences and School of Control Science and Engineering Hebei University of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Optimization and Systems Theory and access linnaeus Center Royal Institute of Technology

This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

关键词： Consensus decentralized control multi-agent systems observer.