Phantom Track Generation Through Cooperative Control of Multiple ECAVs Based on Feasibility Analysis

Radar deception through phantom track generation using multiple electronic combat air vehicles is addressed, which serves as a motivating example for cooperative control of autonomous multiagent systems. A general framework to derive sufficient conditions for the existence of feasible solutions for an affine nonlinear control system comprising of a team of nonholonomic mobile agents having to satisfy actuator and interagent constraints is presented. Based on this feasibility analysis, an algorithm capable of generating trajectories online and in real time, for the phantom track generation problem, is developed. A rigorous treatment of the phantom track generation problem, which includes results on its accessibility, feasibility, local asymptotic straightening of trajectories, and a limited result on system controllability, is given. The basic approach to the algorithm based on the results developed here is presented along with simulation results, validating the proposed approach.

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Rigid Formation Control of Nonholonomic Multi-Agents

Volume 9: Mechanical Systems and Control, Parts A, B, and C ◽

10.1115/imece2007-43074 ◽

2007 ◽

Cited By ~ 1

Author(s):

D. H. A. Maithripala ◽

Sangbum Woo ◽

S. Jayasuriya

Keyword(s):

Lower Bound ◽

Control Problem ◽

Mobile Agents ◽

Formation Control ◽

Sufficient Conditions ◽

Explicit Consideration ◽

Simulation Results ◽

Multi Agents

In this paper we address the formation control problem of maintaining rigid formation for a group of nonholonomic mobile agents. Explicit consideration of actuator limits at a higher level of control in designing formation trajectories that can theoretically result in zero formation error is the main contribution we make. In particular we consider a positive lower bound on the agent speed, to account for stall speeds of fixed winged UAVs. We provide sufficient conditions on the controls that would ensure feasible formation trajectories. The approach we propose is supported with preliminary simulation results.

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Consensus Algorithm for Swarm Robotics Cooperative Control

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.201-203.1854 ◽

2011 ◽

Vol 201-203 ◽

pp. 1854-1857 ◽

Cited By ~ 2

Author(s):

Bin Lei ◽

Liang Cai Zeng

Keyword(s):

Cooperative Control ◽

Swarm Robotics ◽

Sufficient Conditions ◽

Consensus Algorithm ◽

Critical Problem ◽

Consensus Algorithms ◽

Information Interaction ◽

Simulation Results ◽

Interaction Relationship ◽

Graph Theroy

A critical problem for swarm robotics cooperative control is to determine appropriate consensus algorithms so that a group of robots can reach consensus on the values of coordination data. In this paper, we defined the Information Interactive Graph ( IIG ) and the Information Interactive Matrix ( IIM ) to represent the information interaction relationship between each robot based on algebra graph theroy. Proofed the necessary and/or sufficient conditions for consensus and presented some consensus algorithms under static topology. Finally, simulation results showed that our algorithm can make a swarm of robots reach a consensus on the shared coordination data.

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Distributed Coordination Control of First- and Second-Order Multiagent Systems with External Disturbances

Mathematical Problems in Engineering ◽

10.1155/2015/913689 ◽

2015 ◽

Vol 2015 ◽

pp. 1-7 ◽

Cited By ~ 3

Author(s):

Lipo Mo ◽

Tingting Pan ◽

Shaoyan Guo ◽

Yuguang Niu

Keyword(s):

Control Problem ◽

Multiagent Systems ◽

Model Transformation ◽

Sufficient Conditions ◽

Second Order ◽

Distributed Coordination ◽

Coordination Control ◽

External Disturbances ◽

Simulation Results ◽

Control Output

This paper is devoted to the coordination control problem of heterogeneous first- and second-order multiagent systems with external disturbances. First, by applying the theory of eigenvalue and the method of model transformation, the consensus state of heterogeneous multiagent systems is obtained. Then, based on the consensus state, the control output is defined, and sufficient conditions are derived to make all agents reach consensus withH∞performance. Finally, simulation results are provided to demonstrate the effectiveness of the presented results.

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Necessary and Sufficient Conditions of Formation-Containment Control of High-Order Multiagent Systems With Observer-Type Protocols

IEEE Transactions on Cybernetics ◽

10.1109/tcyb.2020.3037133 ◽

2021 ◽

pp. 1-15

Author(s):

Xin Gong ◽

Yukang Cui ◽

Jun Shen ◽

Zhiguang Feng ◽

Tingwen Huang

Keyword(s):

Multiagent Systems ◽

Sufficient Conditions ◽

High Order ◽

Necessary And Sufficient Conditions ◽

Containment Control ◽

Necessary And Sufficient

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Finite-TimeH∞Control for Time-Delayed Stochastic Systems with Markovian Switching

Abstract and Applied Analysis ◽

10.1155/2014/809290 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10 ◽

Cited By ~ 2

Author(s):

Wenhua Gao ◽

Feiqi Deng ◽

Ruiqiu Zhang ◽

Wenhui Liu

Keyword(s):

Finite Time ◽

State Feedback ◽

Stochastic Systems ◽

Sufficient Conditions ◽

Markovian Switching ◽

Time Stability ◽

Finite Time Stability ◽

Weighting Matrix ◽

Simulation Results ◽

Dependent State

This paper studies the problem of finite-timeH∞control for time-delayed Itô stochastic systems with Markovian switching. By using the appropriate Lyapunov-Krasovskii functional and free-weighting matrix techniques, some sufficient conditions of finite-time stability for time-delayed stochastic systems with Markovian switching are proposed. Based on constructing new Lyapunov-Krasovskii functional, the mode-dependent state feedback controller for the finite-timeH∞control is obtained. Simulation results illustrate the effectiveness of the proposed method.

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Bipartite Consensus of High-Order Edge Dynamics on Coopetition Multiagent Systems

Mathematical Problems in Engineering ◽

10.1155/2019/1628239 ◽

2019 ◽

Vol 2019 ◽

pp. 1-12 ◽

Cited By ~ 1

Author(s):

Yilong Yang ◽

Zhijian Ji ◽

Lei Tian ◽

Huizi Ma ◽

Qingyuan Qi

Keyword(s):

Multiagent Systems ◽

Line Graph ◽

Sufficient Conditions ◽

High Order ◽

Third Order ◽

Positive Weight ◽

The Third ◽

Initial Graph ◽

Strongly Connected ◽

Bipartite Consensus

The bipartite consensus of high-order edge dynamics is investigated for coopetition multiagent systems, in which the cooperative and competitive relationships among agents are characterized by positive weight and negative weight, respectively. By mapping the initial graph to a line graph, the distributed control protocol is proposed for the strongly connected, digon sign-symmetric structurally balanced line graph; and then we give sufficient conditions for the third-order multi-gent system to achieve both the bipartite consensus of edge dynamics and the final value of bipartite consensus. By transforming the coefficients of characteristic polynomial from complex domain to real number domain, the sufficient conditions for the bipartite consensus of high-order edge dynamics are also proposed, and the final values of the high-order edge dynamics on multiagent systems are obtained.

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Adaptive Synchronization in Unknown Stochastic Chaotic Neural Networks with Mixed Time-Varying Delays

Chaos Synchronization and Cryptography for Secure Communications - Advances in Information Security, Privacy, and Ethics ◽

10.4018/978-1-61520-737-4.ch013 ◽

2011 ◽

pp. 289-313

Author(s):

Jian-an Fang ◽

Yang Tang

Keyword(s):

Neural Networks ◽

Sufficient Conditions ◽

Stochastic Perturbation ◽

Adaptive Synchronization ◽

Output Coupling ◽

Time Varying ◽

Connection Weight ◽

Chaotic Neural Networks ◽

Simulation Results ◽

Feedback Techniques

Neural networks (NNs) have been useful in many fields, such as pattern recognition, image processing etc. Recently, synchronization of chaotic neural networks (CNNs) has drawn increasing attention due to the high security of neural networks. In this chapter, the problem of synchronization and parameter identification for a class of chaotic neural networks with stochastic perturbation via state and output coupling, which involve both the discrete and distributed time-varying delays has been investigated. Using adaptive feedback techniques, several sufficient conditions have been derived to ensure the synchronization of stochastic chaotic neural networks. Moreover, all the connection weight matrices can be estimated while the lag synchronization and complete synchronization is achieved in mean square at the same time. The corresponding simulation results are given to show the effectiveness of the proposed method.

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Multiconsensus of Nonlinear Multiagent Systems with Intermittent Communication

Mathematical Problems in Engineering ◽

10.1155/2020/1736706 ◽

2020 ◽

Vol 2020 ◽

pp. 1-8

Author(s):

Jie Chen ◽

Guang-Hui Xu ◽

Liang Geng

Keyword(s):

Nonlinear Dynamics ◽

Lyapunov Function ◽

Multiagent Systems ◽

Closed Loop ◽

Sufficient Conditions ◽

Control Parameters ◽

Numerical Examples ◽

Relative Information ◽

Loop Dynamics ◽

Intermittent Communication

Compared with single consensus, the multiconsensus of multiagent systems with nonlinear dynamics can reflect some real-world cases. This paper proposes a novel distributed law based only on intermittent relative information to achieve the multiconsensus. By constructing an appropriate Lyapunov function, sufficient conditions on control parameters are derived to undertake the reliability of closed-loop dynamics. Ultimately, the availability of results is completely validated by these numerical examples.

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Feedback motion planning of unmanned surface vehicles via random sequential composition

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218822698 ◽

2019 ◽

Vol 41 (12) ◽

pp. 3321-3330 ◽

Cited By ~ 3

Author(s):

Emre Ege ◽

Mustafa Mert Ankarali

Keyword(s):

Motion Planning ◽

Broad Class ◽

Random Trees ◽

Main Approach ◽

Unmanned Surface Vehicles ◽

Sequential Composition ◽

Planning Algorithm ◽

Overall Performance ◽

Simulation Results ◽

Feasible Solutions

In this paper, we propose a new motion planning method that aims to robustly and computationally efficiently solve path planning and navigation problems for unmanned surface vehicles (USVs). Our approach is based on synthesizing two different existing methodologies: sequential composition of dynamic behaviours and rapidly exploring random trees (RRT). The main motivation of this integrated solution is to develop a robust feedback-based and yet computationally feasible motion planning algorithm for USVs. In order to illustrate the main approach and show the feasibility of the method, we performed simulations and tested the overall performance and applicability for future experimental applications. We also tested the robustness of the method under relatively extreme environmental uncertainty. Simulation results indicate that our method can produce robust and computationally feasible solutions for a broad class of USVs.

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