scholarly journals Multiple Dynamic Targets Encirclement Control of Multiagent Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Wenguang Zhang ◽  
Jizhen Liu ◽  
Deliang Zeng
Keyword(s):  
Control Problem ◽  
Numerical Simulations ◽  
Multiagent Systems ◽  
Multiple Targets ◽  
Control Protocol

This paper develops the distributed encirclement control problem of multiagent systems, in which each agent tracks multiple targets, each target can be tracked by one agent, and the numbers of the agents and the targets are the same or not. Firstly, an encirclement control protocol is proposed for multiagent systems, and this protocol contains some estimators. Secondly, some conditions are derived, under which multiagent systems can achieve encirclement control by circular formation. Finally, numerical simulations are provided to illustrate the obtained results.

scholarly journals Distributed Robust H∞ Consensus Control for Uncertain Multiagent Systems with State and Input Delays

2017 ◽  
Vol 2017 ◽  
pp. 1-15 ◽  
Author(s):  
Ping Li ◽  
Kaiyu Qin
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Performance Index ◽  
Disturbance Attenuation ◽  
Matrix Inequalities ◽  
Parameter Uncertainties ◽  
Consensus Control ◽  
Control Protocol ◽  
State And Input Delays ◽  
Input Delays

Robust H∞ consensus control problem is investigated for multiagent systems. Each agent is tackled in a more generalized form, which includes parameter uncertainties, external disturbances, nonidentical time-varying state, and input delays. Firstly, a distributed control protocol based on state feedback of neighbors is designed. By a decoupling method, H∞ consensus control problem for multiagent systems is transformed into H∞ control problem for the decoupling subsystems. Then employing Lyapunov-Krasovskii functional and free-weighting matrices, a lower conservative bounded real lemma (BRL) is derived in terms of linear matrix inequalities (LMIs) such that a class of time-delay system is guaranteed to be globally asymptotically stable with the desired H∞ performance index. Extending BRL, a sufficient delay-dependent condition of lower complexity in terms of the matrix inequalities is obtained to make all agents asymptotically reach consensus with the desired H∞ performance index. Furthermore, an algorithm is elaborately designed to get feasible solution to this condition. Extending this algorithm, an optimization algorithm for control protocol parameter is proposed to improve the disturbance attenuation capacity or allowable delay bounds. Finally, simulation results are provided to illustrate the correctness of the theoretical results and the effectiveness of the algorithms.

scholarly journals On the Group Controllability of Leader-Based Continuous-Time Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Bo Liu ◽  
Licheng Wu ◽  
Rong Li ◽  
Housheng Su ◽  
Yue Han
Keyword(s):  
Numerical Simulations ◽  
Multiagent Systems ◽  
Continuous Time ◽  
Entire Group ◽  
Multiple Leaders ◽  
Theoretical Results

The group controllability of continuous-time multiagent systems (MASs) with multiple leaders is considered in this paper, where the entire group is compartmentalized into a few subgroups. The group controllability concept of continuous-time MASs with multiple leaders is put forward, and the group controllability criteria are obtained for switching and fixed topologies, respectively. Finally, the numerical simulations are given to prove the validity of the theoretical results.

scholarly journals Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Lina Jin ◽  
Shuanghe Yu ◽  
Dongxu Ren
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Closed Loop ◽  
Phase Distribution ◽  
The Other ◽  
Control Law ◽  
Closed Loop System ◽  
The Stability ◽  
Phase Arrangement

This paper deals with the circular formation control problem of multiagent systems for achieving any preset phase distribution. The control problem is decomposed into two parts: the first is to drive all the agents to a circle which either needs a target or not and the other is to arrange them in positions distributed on the circle according to the preset relative phases. The first part is solved by designing a circular motion control law to push the agents to approach a rotating transformed trajectory, and the other is settled using a phase-distributed protocol to decide the agents’ positioning on the circle, where the ring topology is adopted such that each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind it. The stability of the closed-loop system is analyzed, and the performance of the proposed controller is verified through simulations.

Unconstrained and Constrained Control for a Tentacle Manipulator

2004 ◽  
Author(s):  
Mircea Ivanescu
Keyword(s):  
Control Problem ◽  
Numerical Simulations ◽  
Potential Method ◽  
Constrained Control ◽  
Constrained Motion ◽  
Controlled System ◽  
Differential Model

The control problem of the spatial tentacle manipulator is presented. In order to avoid the difficulties generated by the complexity of the nonlinear integral - differential model, the control problem is based by the artificial potential method. It is shown that the control of a tentacle robot to a desired position it is possible if the artificial potential is a potential functional whose point of minimum is attractor of this dissipative controlled system. Then, the method is used for constrained motion in an environment with obstacles. Numerical simulations for spatial and planar tentacle models are presented in order to illustrate the efficiency of the method.

scholarly journals Dynamic Analysis of a Two-Language Competitive Model with Control Strategies

2013 ◽  
Vol 2013 ◽  
pp. 1-13 ◽  
Author(s):  
Lin-Fei Nie ◽  
Zhi-Dong Teng ◽  
Juan J. Nieto ◽  
Il Hyo Jung
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Numerical Simulations ◽  
Control Strategy ◽  
Sufficient Conditions ◽  
Positive Order ◽  
State Dependent ◽  
Competitive Model ◽  
The Impact

The dynamic behavior of a two-language competitive model is analyzed systemically in this paper. By the linearization and the Bendixson-Dulac theorem on dynamical system, some sufficient conditions on the globally asymptotical stability of the trivial equilibria and the existence and the stability of the positive equilibrium of this model are presented. Nextly, in order to protect the endangered language, an optimal control problem relative to this model is explored. We derive some necessary conditions to solve the optimal control problem and present some numerical simulations using a Runge-Kutta fourth-order method. Finally, the languages competitive model is extended to this model assessing the impact of state-dependent pulse control strategy. Using the Poincaré map, differential inequality, and method of qualitative analysis, we prove the existence and stability of positive order-1 periodic solution for this control model. Numerical simulations are carried out to illustrate the main results and the feasibility of state-dependent impulsive control strategy.

scholarly journals On Multitracking of First-Order MASs with Adaptive Coupling Strength

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Da Huang ◽  
Xiaolin Fan ◽  
Zhiyong Yu ◽  
Haijun Jiang
Keyword(s):  
Multiagent Systems ◽  
Network Topology ◽  
Coupling Strength ◽  
Adaptive Strategy ◽  
Adaptive Approach ◽  
Control Protocol ◽  
First Order ◽  
Connected Digraph ◽  
Adaptive Coupling ◽  
Multiple Leaders

The problem of cluster consensus with multiple leaders is called multitracking. In this article, a sort of multitracking of first-order multiagent systems with adaptive coupling strength is studied by the application of adaptive strategy, and the delayed relation between various leaders and clusters is considered. To reach the clustered multitracking goal, a novel pinning-like control protocol with adaptive approach is designed according to the properties of network topology. In addition, the structure of the networked system is a weakly connected digraph. Some conditions are derived to ensure that the nodes in the same cluster reach the consensus via tracking their leader, while leaders will keep a delayed relation with the settled leader node as time goes on to form the required delay consensus.

scholarly journals Observer-based adaptive optimal output containment control problem of linear heterogeneous Multiagent systems with relative output measurements

2018 ◽  
Vol 33 (2) ◽  
pp. 262-284 ◽  
Author(s):  
Majid Mazouchi ◽  
Mohammad Bagher Naghibi-Sistani ◽  
Seyed Kamal Hosseini Sani ◽  
Farzaneh Tatari ◽  
Hamidreza Modares
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Containment Control ◽  
Optimal Output

scholarly journals Consensus of Delayed Fractional-Order Multiagent Systems Based on State-Derivative Feedback

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li
Keyword(s):  
Graph Theory ◽  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
Multiagent System ◽  
Frequency Domain Analysis ◽  
Consensus Control ◽  
Control Protocol ◽  
Analysis Theory ◽  
Theoretical Results

A state-derivative feedback (SDF) is added into the designed control protocol in the existing paper to enhance the robustness of a fractional-order multiagent system (FMS) against nonuniform time delays in this paper. By applying the graph theory and the frequency-domain analysis theory, consensus conditions are derived to make the delayed FMS based on state-derivative feedback reach consensus. Compared with the consensus control protocol designed in the existing paper, the proposed SDF control protocol with nonuniform time delays can make the FMS with SDF and nonuniform time delays tolerate longer time delays, which means that the convergence speed of states of the delayed FMS with SDF is accelerated indirectly. Finally, the corresponding results of simulation are given to verify the feasibility of our theoretical results.

scholarly journals Energy-Limited Time-Varying Formation Control for Second-Order Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wanzhen Quan ◽  
Yulong Zhao ◽  
Le Wang ◽  
Xiaogang Yang
Keyword(s):  
Control Problem ◽  
Total Energy ◽  
Multiagent Systems ◽  
Formation Control ◽  
Orthogonal Transformation ◽  
Second Order ◽  
Time Varying ◽  
Limited Time ◽  
Leader Following ◽  
Energy Limitation

The energy-limited time-varying formation (ETVF) control problem of second-order multiagent systems (MAS) is addressed for both leaderless and leader-following communication topologies in this paper. Different from the previous results, the joint consideration of energy limitation and formation design is more challenging and practical. First, an ETVF control protocol is presented, and the total energy supply is pregiven and limited, which is more common in practical applications. Then, by an orthogonal transformation, the formation control problem is converted into the consensus stabilization problem for second-order leaderless MAS, where sufficient conditions for the ETVF are derived by joint design of control gains and the total energy. At the same time, the explicit formula that forms the formation center function is obtained to depict the macroscopic movement of the multiagent system as a whole. Moreover, the proposed method is also extended to the leader-following communication structure. Finally, two examples are given to verify the effectiveness of our theoretical results.

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