scholarly journals Distributed Tracking Control for Discrete-Time Multiagent Systems with Novel Markovian Switching Topologies

2017 ◽  
Vol 2017 ◽  
pp. 1-10
Author(s):  
Hongbin Wang ◽  
Zhen Zhou ◽  
Zhongquan Hu
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Tracking Control ◽  
Sampling Period ◽  
Consensus Algorithm ◽  
Switching Topology ◽  
Tracking Errors ◽  
Control Gain ◽  
Leader Following ◽  
Coordinated Tracking

Distributed discrete-time coordinated tracking control problem is investigated for multiagent systems in the ideal case, where agents with a fixed graph combine with a leader-following group, aiming to expand the function of the traditional one in some scenes. The modified union switching topology is derived from a set of Markov chains to the edges by introducing a novel mapping. The issue on how to guarantee all the agents tracking the leader is solved through a PD-like consensus algorithm. The available sampling period and the feasible control gain are calculated in terms of the trigonometric function theory, and the mean-square bound of tracking errors is provided finally. Simulation example is presented to demonstrate the validity of the theoretical results.

Leader-following consensus of discrete-time multiagent systems with time-varying delay based on large delay theory

2017 ◽  
Vol 417 ◽  
pp. 236-246 ◽  
Author(s):  
Huiwei Liu ◽  
Hamid Reza Karimi ◽  
Shengli Du ◽  
Weiguo Xia ◽  
Chongquan Zhong
Keyword(s):  
Multiagent Systems ◽  
Discrete Time ◽  
Time Varying ◽  
Large Delay ◽  
Time Varying Delay ◽  
Leader Following ◽  
Varying Delay

scholarly journals Impulsive Consensus for Leader-Following Multiagent Systems with Fixed and Switching Topology

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Zhi-Wei Liu ◽  
Zhi-Hong Guan ◽  
Hong Zhou
Keyword(s):  
Multiagent System ◽  
Impulsive Control ◽  
Sampling Period ◽  
Switching Topology ◽  
Sufficient Condition ◽  
Leader Following ◽  
Fixed Topology ◽  
The Stability ◽  
Sampling Instant ◽  
Necessary And Sufficient

This paper studied the consensus problem of the leader-following multiagent system. It is assumed that the state information of the leader is only available to a subset of followers, while the communication among agents occurs at sampling instant. To achieve leader-following consensus, a class of distributed impulsive control based on sampling information is proposed. By using the stability theory of impulsive systems, algebraic graph theory, and stochastic matrices theory, a necessary and sufficient condition for fixed topology and sufficient condition for switching topology are obtained to guarantee the leader-following consensus of the multiagent system. It is found that leader-following consensus is critically dependent on the sampling period, control gains, and interaction graph. Finally, two numerical examples are given to illustrate the effectiveness of the proposed approach and the correctness of theoretical analysis.

scholarly journals Group Consensus with a Dynamic Leader for Multiagent Systems via Sampled-Data Control

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Hong Xia ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao ◽  
Jun-Yan Yu
Keyword(s):  
Multiagent Systems ◽  
Matrix Theory ◽  
Sampling Period ◽  
Group Consensus ◽  
Sampled Data ◽  
Ultimate Boundedness ◽  
Tracking Errors ◽  
Data Control ◽  
Sampled Data Control ◽  
Theoretical Results

This paper considers a group consensus problem with a dynamic leader for multiagent systems in a sampled-data setting. With the leader’s state available to only a fraction of the followers, a distributed linear protocol based on sampled-data control is proposed for group consensus under fixed directed topology. On basis ofM-matrix theory, we derive a sufficient condition on the sampling period and the control parameter for ultimate boundedness of the tracking errors. Furthermore, simulation examples are provided to demonstrate the effectiveness of the theoretical results.

scholarly journals Sampled-Data Consensus for High-Order Multiagent Systems under Fixed and Randomly Switching Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Niu Jie ◽  
Li Zhong
Keyword(s):  
Multiagent Systems ◽  
Linear Time ◽  
Sampling Period ◽  
Switching Topology ◽  
Sampled Data ◽  
System Matrix ◽  
Packet Losses ◽  
Linear Time Invariant ◽  
Switching Topologies ◽  
Necessary And Sufficient

This paper studies the sampled-data based consensus of multiagent system with general linear time-invariant dynamics. It focuses on looking for a maximum allowable sampling period bound such that as long as the sampling period is less than this bound, there always exist linear consensus protocols solving the consensus problem. Both fixed and randomly switching topologies are considered. For systems under fixed topology, a necessary and sufficient sampling period bound is obtained for single-input multiagent systems, and a sufficient allowable bound is proposed for multi-input systems by solving theH∞optimal control problem of certain system with uncertainty. For systems under randomly switching topologies, tree-type and complete broadcasting network with Bernoulli packet losses are discussed, and explicit allowable sampling period bounds are, respectively, given based on the unstable eigenvalues of agent’s system matrix and packet loss probability. Numerical examples are given to illustrate the results.

scholarly journals Adjacent-Compensation Consensus Algorithm in Asynchronously Coupled Form for Second-Order Multiagent Network under Communication Delay

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Cheng-Lin Liu ◽  
Fei Liu
Keyword(s):  
Multiagent Systems ◽  
Spanning Tree ◽  
Frequency Domain Analysis ◽  
Second Order ◽  
Communication Delay ◽  
Consensus Algorithm ◽  
Coordination Control ◽  
Control Framework ◽  
Leader Following ◽  
Delay Dependent

General asynchronously coupled consensus algorithm associated with adjacent compensations, is proposed to solve the dynamical consensus problem of second-order multiagent network with communication delay under leader-following coordination control framework. Based on frequency-domain analysis, firstly, delay-independent consensus convergence is proved for the second-order multiagent systems with a spanning tree topology that has the leader root and then delay-dependent consensus condition is obtained for the multiagent systems with communication delay under a general leader-following interconnection topology. Simulation illustrates the correctness of the results.

scholarly journals Distributed Leader-Following Finite-Time Consensus Control for Linear Multiagent Systems under Switching Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Xiaole Xu ◽  
Shengyong Chen ◽  
Lixin Gao
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Switching Topology ◽  
Linear Matrix ◽  
Sufficient Condition ◽  
Dynamical Models ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Leader Following ◽  
Discrete Time Case

This paper investigates the finite-time consensus problem of leader-following multiagent systems. The dynamical models for all following agents and the leader are assumed the same general form of linear system, and the interconnection topology among the agents is assumed to be switching and undirected. We mostly consider the continuous-time case. By assuming that the states of neighbouring agents are known to each agent, a sufficient condition is established for finite-time consensus via a neighbor-based state feedback protocol. While the states of neighbouring agents cannot be available and only the outputs of neighbouring agents can be accessed, the distributed observer-based consensus protocol is proposed for each following agent. A sufficient condition is provided in terms of linear matrix inequalities to design the observer-based consensus protocol, which makes the multiagent systems achieve finite-time consensus under switching topologies. Then, we discuss the counterparts for discrete-time case. Finally, we provide an illustrative example to show the effectiveness of the design approach.

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