scholarly journals Consensus of Multiagent Systems with Sampled Information and Noisy Measurements

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Zhao-Jun Tang ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao
Keyword(s):  
Multiagent Systems ◽  
Directed Network ◽  
First Order ◽  
Network Topologies ◽  
Strong Consensus ◽  
Measurement Noises ◽  
Simulation Results ◽  
Approximation Type ◽  
Noisy Measurements ◽  
Theoretical Results

We consider consensus problems of first-order multiagent systems with sampled information and noisy measurements. A distributed stochastic approximation type algorithm is employed to attenuate the measurement noises. We provide conditions under which almost sure strong consensus is guaranteed for fixed and switching directed network topologies. Simulation results are provided to illustrate the theoretical results.

scholarly journals Containment Control of Multiagent Systems with Multiple Leaders and Noisy Measurements

2012 ◽  
Vol 2012 ◽  
pp. 1-9 ◽  
Author(s):  
Zhao-Jun Tang ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao
Keyword(s):  
Convex Hull ◽  
Multiagent Systems ◽  
Stochastic Approximation ◽  
Mean Square ◽  
Containment Control ◽  
Simulation Results ◽  
Approximation Type ◽  
Noisy Measurements ◽  
Multiple Leaders ◽  
Theoretical Results

We consider the distributed containment control of multiagent systems with multiple stationary leaders and noisy measurements. A stochastic approximation type and consensus-like algorithm is proposed to solve the containment control problem. We provide conditions under which all the followers can converge both almost surely and in mean square to the stationary convex hull spanned by the leaders. Simulation results are provided to illustrate the theoretical results.

scholarly journals Consensus Tracking for Multiagent Systems with Nonlinear Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Runsha Dong
Keyword(s):  
Nonlinear Dynamics ◽  
Nonlinear Systems ◽  
Numerical Simulations ◽  
Multiagent Systems ◽  
Second Order ◽  
Control Laws ◽  
First Order ◽  
Consensus Tracking ◽  
Network Topologies ◽  
Theoretical Results

This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.

scholarly journals Mean Square Consensus for Uncertain Multiagent Systems with Noises and Delays

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Yuangong Sun
Keyword(s):  
Multiagent Systems ◽  
Stochastic Analysis ◽  
Matrix Theory ◽  
Time Varying ◽  
Mean Square ◽  
Numerical Examples ◽  
Measurement Noises ◽  
Approximation Type ◽  
Theoretical Results ◽  
Mean Square Consensus

This paper investigates the consensus problem in mean square for uncertain multiagent systems with stochastic measurement noises and symmetric or asymmetric time-varying delays. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the convergence of a class of distributed stochastic approximation type protocols with time-varying consensus gains. Numerical examples are also given to illustrate the theoretical results.

scholarly journals Consensus for Mixed-Order Multiagent Systems over Jointly Connected Topologies via Impulse Control

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-7 ◽  
Author(s):  
Fenglan Sun ◽  
Xiaogang Liao ◽  
Yongfu Li ◽  
Feng Liu
Keyword(s):  
Multiagent Systems ◽  
Impulse Control ◽  
Control Technique ◽  
Consensus Problem ◽  
Multiagent Networks ◽  
Mixed Order ◽  
Network Topologies ◽  
Simulation Results ◽  
Theoretical Results ◽  
Over Time

Because of the complexity of the environment, the dynamics of agents in the same system may be different. That is, the dynamics of some agents may be first ordered, and the others may be second ordered, even high ordered. In addition, the network topologies of systems are always varying over time. Because of these facts, this paper studies the consensus problem of the mixed-order multiagent networks over the jointly connected topologies. By adopting the impulse control technique, some control protocols are proposed based on the information of the agents themselves and their neighbors. Several simulation results are given to verify the correctness of the theoretical results.

scholarly journals Consensus of Fractional-Order Multiagent Systems with Nonuniform Time Delays

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li ◽  
Mengji Shi
Keyword(s):  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
External Environment ◽  
Domain Theory ◽  
Dynamical Model ◽  
Integer Order ◽  
The Laplace Transform ◽  
Simulation Results ◽  
Theoretical Results

Due to the complex external environment, many multiagent systems cannot be precisely described or even cannot be described by an integer-order dynamical model and can only be described by a fractional-order dynamical model. In this paper, consensus problems are investigated for two types of fractional-order multiagent systems (FOMASs) with nonuniform time delays: FOMAS with symmetric time delays and undirected topology and FOMAS with asymmetric time delays and directed topology. Employing the Laplace transform and the frequency-domain theory, two delay margins are obtained to guarantee the consensus for the two types of FOMAS, respectively. These results are also suitable for the integer-order dynamical model. Finally, simulation results are provided to illustrate the effectiveness of our theoretical results.

Multiconsensus of first-order multiagent systems with directed topologies

2020 ◽  
Vol 34 (23) ◽  
pp. 2050240
Author(s):  
Xiao-Wen Zhao ◽  
Guangsong Han ◽  
Qiang Lai ◽  
Dandan Yue
Keyword(s):  
Multiagent Systems ◽  
Matrix Theory ◽  
Sufficient Conditions ◽  
Consensus Problem ◽  
Multiple Agents ◽  
First Order ◽  
The Matrix ◽  
Directed Topologies ◽  
Necessary And Sufficient ◽  
Theoretical Results

The multiconsensus problem of first-order multiagent systems with directed topologies is studied. A novel consensus problem is introduced in multiagent systems — multiconsensus. The states of multiple agents in each subnetwork asymptotically converge to an individual consistent value in the presence of information exchanges among subnetworks. Linear multiconsensus protocols are proposed to solve the multiconsensus problem, and the matrix corresponding to the protocol is designed. Necessary and sufficient conditions are derived based on matrix theory, under which the stationary multiconsensus and dynamic multiconsensus can be reached. Simulations are provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Electronic Circuit Emuling a First-order Time-delay Differential Equation

2021 ◽  
Vol 19 (1 Jan-Jun) ◽  
Author(s):  
César Jiménez ◽  
I. Campos-Canton ◽  
L. J. Ontañón-García
Keyword(s):  
Differential Equation ◽  
Time Delay ◽  
Phase Shift ◽  
Electronic Circuit ◽  
Linear Time ◽  
Electrical Circuit ◽  
First Order ◽  
Simulation Results ◽  
Delay Differential ◽  
Theoretical Results

This article provides undergraduates a useful tool for a better understanding of the time delay eect on a electronic circuit. The time delay eect is analyzed on this paper in a rst order dierential equation. This linear time delay is associated with the amplitude of a first-order dierential equation and is responsible of three responses: one of the responses is an dierential equation type in first-order without delay, another one of the responses is a dierential equation type in second-order and nally we have the response of a harmonic oscillator.The proposed circuit is an emulator that develop the three different responses mentioned above. Simulink-Matlab software was used to implement the time delay and simulate the dierential equation. This simulation results coincide with the theoretical results. In the same manner, the experimental results match those of the theory. The electronical circuits suggested consist of three blocks: an integrator block, a phase shift block and a gain block. The electrical circuit is composed of resistors, capacitors and operational ampliers.

scholarly journals Couple-Group Consensus: A Class of Delayed Heterogeneous Multiagent Systems in Competitive Networks

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Lianghao Ji ◽  
Yue Zhang ◽  
Yiliu Jiang
Keyword(s):  
Multiagent Systems ◽  
Time Delays ◽  
Heterogeneous Systems ◽  
Velocity Estimation ◽  
Communication Delays ◽  
Group Consensus ◽  
Distributed Coordination ◽  
First Order ◽  
Communication Time ◽  
Theoretical Results

This paper discusses the couple-group consensus issues of a class of heterogeneous multiagent systems containing first-order and second-order dynamic agents under the influence of both input and communication delays. In distinction to the existing works, a novel distributed coordination control protocol is proposed which is not only on the foundation of the competitive interaction between the agents but also has no virtual velocity estimation in the first-order dynamics. Furthermore, without the restrictive assumptions existing commonly in the related works, several sufficient algebraic criteria are established for the heterogeneous systems to realize couple-group consensus asymptotically. The obtained conclusions show that the achievement of the systems’ couple-group consensus intimately relates to the coupling weights between the agents, the systems control parameters, and the input time delays of the agents, while communication time delays between the agents are irrelevant to it. Finally, several simulations are illustrated to verify the effectiveness of the obtained theoretical results.

scholarly journals On the Observability of Leader-Based Multiagent Systems with Fixed Topology

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Bo Liu ◽  
Ningsheng Xu ◽  
Housheng Su ◽  
Licheng Wu ◽  
Jiahui Bai
Keyword(s):  
Multiagent Systems ◽  
Second Order ◽  
High Order ◽  
Numerical Examples ◽  
First Order ◽  
Leader Following ◽  
Fixed Topology ◽  
Agreement Protocols ◽  
Theoretical Results ◽  
Double Integrator

This paper investigates the observability of first-order, second-order, and high-order leader-based multiagent systems (MASs) with fixed topology, respectively. Some new algebraic and graphical characterizations of the observability for the first-order MASs are established based on agreement protocols. Moreover, under the same leader-following framework with the predefined topology and leader assignment, the observability conditions for systems of double-integrator and high-integrator agents are also obtained. Finally, the effectiveness of the theoretical results is verified by numerical examples and simulations.

scholarly journals Agreement of Networks of Discrete-Time Agents with Mixed Dynamics and Time Delays

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Xue Li ◽  
Xueer Chen ◽  
Yingchun Xie
Keyword(s):  
Discrete Time ◽  
Spanning Tree ◽  
Time Delays ◽  
Sufficient Conditions ◽  
Model Transformations ◽  
Nonnegative Matrices ◽  
First Order ◽  
Fixed Topology ◽  
Simulation Results ◽  
Theoretical Results

This paper considers agreement problems of networks of discrete-time agents with mixed dynamics and arbitrary bounded time delays, and networks consist of first-order agents and second-order agents. By using the properties of nonnegative matrices and model transformations, we derive sufficient conditions for stationary agreement of networks with bounded time delays. It is shown that stationary agreement can be achieved with arbitrary bounded time delays, if and only if fixed topology has a spanning tree and the union of the dynamically changing topologies has a spanning tree. Simulation results are also given to demonstrate the effectiveness of our theoretical results.

Sign in / Sign up

Export Citation Format

Share Document