scholarly journals Adaptive 3D Distance-Based Formation Control of Multiagent Systems with Unknown Leader Velocity and Coplanar Initial Positions

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xuejing Lan ◽  
Wenbiao Xu ◽  
Yun-Shan Wei
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Relative Position ◽  
Formation Control ◽  
Control Law ◽  
Asymptotically Stable ◽  
Coordinate Systems ◽  
Lyapunov Theorem ◽  
Globally Asymptotically Stable ◽  
3 Dimensional

This paper considers the distributed 3-dimensional (3D) distance-based formation control of multiagent systems, where the agents are connected based on an acyclic minimally structural persistent (AMSP) graph. A parameter is designed according to the desired formation shape and is used to solve the problem that there are two formation shapes satisfying the same distance requirements. The unknown moving velocity of the leader agent is estimated adaptively by the followers requiring only the relative position measurements with respect to their local coordinate systems. In addition, the proposed formation controller provides a new way for the agent to leave the initial coplanar location. The 3D formation control law is globally asymptotically stable and has been demonstrated based on the Lyapunov theorem. Finally, two numerical simulations are presented to support the theoretical analysis.

scholarly journals Finite-Time Formation Control without Collisions for Multiagent Systems with Communication Graphs Composed of Cyclic Paths

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
J. F. Flores-Resendiz ◽  
E. Aranda-Bricaire ◽  
J. González-Sierra ◽  
J. Santiaguillo-Salinas
Keyword(s):  
Multiagent Systems ◽  
Finite Time ◽  
Formation Control ◽  
Vector Fields ◽  
Control Law ◽  
Closed Loop System ◽  
Focus Structure ◽  
Communication Graphs ◽  
Cyclic Pursuit ◽  
Unstable Focus

This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.

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.

scholarly journals Modeling Transmission of Tuberculosis with MDR and Undetected Cases

2011 ◽  
Vol 2011 ◽  
pp. 1-12 ◽  
Author(s):  
Yongqi Liu ◽  
Zhendong Sun ◽  
Guiquan Sun ◽  
Qiu Zhong ◽  
Li Jiang ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Theoretical Analysis ◽  
Control Strategies ◽  
Multidrug Resistant ◽  
Vital Role ◽  
Endemic Equilibrium ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Tb Control ◽  
Disease Free

This paper presents a novel mathematical model with multidrug-resistant (MDR) and undetected TB cases. The theoretical analysis indicates that the disease-free equilibrium is globally asymptotically stable ifR0<1; otherwise, the system may exist a locally asymptotically stable endemic equilibrium. The model is also used to simulate and predict TB epidemic in Guangdong. The results imply that our model is in agreement with actual data and the undetected rate plays vital role in the TB trend. Our model also implies that TB cannot be eradicated from population if it continues to implement current TB control strategies.

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

scholarly journals Stability Analysis of a Dynamical Model for Malware Propagation with Generic Nonlinear Countermeasure and Infection Probabilities

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xulong Zhang ◽  
Xiaoxia Song
Keyword(s):  
Stability Analysis ◽  
Theoretical Analysis ◽  
Dynamical Model ◽  
Practical Significance ◽  
Asymptotically Stable ◽  
Unique Equilibrium ◽  
Globally Asymptotically Stable ◽  
Effective Strategies ◽  
Malware Propagation ◽  
Theoretical Results

The dissemination of countermeasures is widely recognized as one of the most effective strategies of inhibiting malware propagation, and the study of general countermeasure and infection has an important and practical significance. On this point, a dynamical model incorporating generic nonlinear countermeasure and infection probabilities is proposed. Theoretical analysis shows that the model has a unique equilibrium which is globally asymptotically stable. Accordingly, a real network based on the model assumptions is constructed, and some numerical simulations are conducted on it. Simulations not only illustrate theoretical results but also demonstrate the reasonability of general countermeasure and infection.

scholarly journals Propagation Behavior of Virus Codes in the Situation That Infected Computers Are Connected to the Internet with Positive Probability

2012 ◽  
Vol 2012 ◽  
pp. 1-13 ◽  
Author(s):  
Lu-Xing Yang ◽  
Xiaofan Yang
Keyword(s):  
Theoretical Analysis ◽  
Threshold Value ◽  
Computer Virus ◽  
The Internet ◽  
Asymptotically Stable ◽  
Positive Probability ◽  
Globally Asymptotically Stable ◽  
New Model ◽  
Propagation Behavior ◽  
Viral Equilibrium

All the known models describing the propagation of virus codes were based on the assumption that a computer is uninfected at the time it is being connected to the Internet. In reality, however, it is much likely that infected computers are connected to the Internet. This paper is intended to investigate the propagation behavior of virus programs provided infected computers are connected to the Internet with positive probability. For that purpose, a new model characterizing the spread of computer virus is proposed. Theoretical analysis of this model indicates that (1) there is a unique (viral) equilibrium, and (2) this equilibrium is globally asymptotically stable. Further study shows that, by taking active measures, the percentage of infected computers can be made below an acceptable threshold value.

Dynamic Visual Servoing for a Quadrotor Using a Virtual Camera

2017 ◽  
Vol 05 (01) ◽  
pp. 1-17 ◽  
Author(s):  
Geoff Fink ◽  
Hui Xie ◽  
Alan F. Lynch ◽  
Martin Jagersand
Keyword(s):  
Visual Servoing ◽  
Closed Loop ◽  
Field Of View ◽  
Visual Features ◽  
Control Law ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Virtual Camera ◽  
Aerial Vehicle ◽  
Planar Target

This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor unmanned aerial vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a moving planar target located within the camera’s field of view. The control law is termed dynamic as it’s based on the dynamics of the vehicle. To simplify the kinematics and dynamics, the control law relies on the notion of a virtual camera and image moments as visual features. The convergence of the closed-loop is proven to be globally asymptotically stable for a horizontal target. In the case of nonhorizontal targets, we modify the control using a homography decomposition. Experimental and simulation results demonstrate the control law’s performance.

scholarly journals Modeling the Effect of External Computers and Removable Devices on a Computer Network with Heterogeneous Immunity

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Walaa S. Bahashwan ◽  
Salma M. Al-Tuwairqi
Keyword(s):  
Sensitivity Analysis ◽  
Theoretical Analysis ◽  
Numerical Simulations ◽  
Computer Network ◽  
Asymptotically Stable ◽  
Virus Spread ◽  
Globally Asymptotically Stable ◽  
Virus Prevalence ◽  
The Impact ◽  
Insight Into

This paper intends to investigate the impact of external computers and removable devices on virus spread in a network with heterogeneous immunity. For that purpose, a new dynamical model is presented and discussed. Theoretical analysis reveals the existence of a unique viral equilibrium that is locally and globally asymptotically stable with no criteria. This result implies that efforts to eliminate viruses are not possible. Therefore, sensitivity analysis is performed to have more insight into parameters’ impact on virus prevalence. As a result, strategies are suggested to contain virus spread to an acceptable level. Finally, to rationalize the analytical results, we execute some numerical simulations.

scholarly journals Modelling and Analysis of Propagation Behavior of Computer Viruses with Nonlinear Countermeasure Probability and Infected Removable Storage Media

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xulong Zhang ◽  
Yong Li
Keyword(s):  
Theoretical Analysis ◽  
Numerical Experiments ◽  
Computer Virus ◽  
Dynamical Model ◽  
Asymptotically Stable ◽  
Globally Asymptotically Stable ◽  
Computer Viruses ◽  
Viral Spread ◽  
Propagation Behavior ◽  
Storage Media

The dissemination of countermeasures is diffusely recognized as one of the most valid strategies of containing computer virus diffusion. In order to better understand the impacts of countermeasure and removable storage media on viral spread, this paper addresses a dynamical model, which incorporates nonlinear countermeasure probability and infected removable storage media. Theoretical analysis reveals that the unique (viral) equilibrium of the model is globally asymptotically stable. This main result is also illustrated by some numerical experiments. Additionally, the numerical experiments of different countermeasure probabilities are conducted.

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