scholarly journals Formation-Containment Control of Second-Order Multiagent Systems via Intermittent Communication

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Mao-Dong Xia ◽  
Cheng-Lin Liu ◽  
Fei Liu
Keyword(s):  
Multiagent Systems ◽  
Lyapunov Functions ◽  
Second Order ◽  
Control Algorithms ◽  
Distributed Coordination ◽  
Time Intervals ◽  
Containment Control ◽  
Convergence Conditions ◽  
Intermittent Communication ◽  
Theoretical Results

This paper investigates the formation-containment control of second-order multiagent systems with intermittent communication. Distributed coordination control algorithms are proposed under aperiodic intermittent communication, where each agent only communicates with its neighboring agents on some disconnected time intervals. By means of constructing Lyapunov functions, sufficient convergence conditions are obtained for the leaders reaching a prescribed formation asymptotically and the followers converging into the convex hull formed by leaders asymptotically, respectively. Besides, sufficient convergence conditions are also provided for second-order multiagent systems converging to the desired formation-containment under time-varying communication delay and intermittent communication. Finally, the validity of theoretical results is illustrated by numerical simulations.

scholarly journals Swarming Behaviors in Multiagent Systems with Nonlinear Dynamics and Aperiodically Intermittent Communication

2019 ◽  
Vol 2019 ◽  
pp. 1-9
Author(s):  
Anding Dai ◽  
Yicheng Liu ◽  
Dongyun Yi ◽  
Peiying Xiong
Keyword(s):  
Nonlinear Dynamics ◽  
Time Delay ◽  
Multiagent Systems ◽  
Finite Time ◽  
Upper Bounds ◽  
Time Intervals ◽  
Communication Time ◽  
The Stability ◽  
Intermittent Communication ◽  
Theoretical Results

This paper investigates the stability of a class of swarm model with nonlinear dynamics and aperiodically intermittent communication. Different from previous works, it assumes that the agents obtain information from the neighbors at a series of aperiodically time intervals. Moreover, nonlinear dynamics and time delay are considered. It finds that all agents in a swarm can reach cohesion within a finite time under discontinuous communication, where the upper bounds of cohesion depend on the parameters of the swarm model and communication time. A numerical example is given to demonstrate the validity of the theoretical results.

Formation-containment control of sampled-data second-order multi-agent systems with sampling delay

2018 ◽  
Vol 40 (16) ◽  
pp. 4369-4381 ◽  
Author(s):  
Baojie Zheng ◽  
Xiaowu Mu
Keyword(s):  
Matrix Theory ◽  
Sufficient Conditions ◽  
Second Order ◽  
Control Problems ◽  
Sampled Data ◽  
Multi Agent Systems ◽  
Containment Control ◽  
Agent Systems ◽  
Multi Agent ◽  
Theoretical Results

The formation-containment control problems of sampled-data second-order multi-agent systems with sampling delay are studied. In this paper, we assume that there exist interactions among leaders and that the leader’s neighbours are only leaders. Firstly, two different control protocols with sampling delay are presented for followers and leaders, respectively. Then, by utilizing the algebraic graph theory and matrix theory, several sufficient conditions are obtained to ensure that the leaders achieve a desired formation and that the states of the followers converge to the convex hull formed by the states of the leaders, i.e. the multi-agent systems achieve formation containment. Furthermore, an explicit expression of the formation position function is derived for each leader. An algorithm is provided to design the gain parameters in the protocols. Finally, a numerical example is given to illustrate the effectiveness of the obtained theoretical results.

scholarly journals Second-Order Consensus in Multiagent Systems via Nonlinear Protocol

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Huan Pan ◽  
Xiaohong Nian ◽  
Ling Guo
Keyword(s):  
Theoretical Analysis ◽  
Multiagent Systems ◽  
Invariance Principle ◽  
Lyapunov Functions ◽  
Multiagent System ◽  
Second Order ◽  
General Linear ◽  
Reference Velocity ◽  
Communication Topology ◽  
Lasalle's Invariance Principle

This paper focuses on theoretical analysis of second-order consensus in multiagent system. As an extension of the general linear protocol, a nonlinear protocol is designed for multiagent system with undirected communication topology. The nonlinear protocol is also applied to achieve reference velocity consensus. Through choosing the appropriate Lyapunov functions and using LaSalle’s invariance principle, some consensus conditions are derived. Simulation examples are provided to demonstrate the effectiveness of the proposed results.

scholarly journals Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

2015 ◽  
Vol 2015 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Liu ◽  
Shaolei Zhou ◽  
Shi Yan ◽  
Gaoyang Yin
Keyword(s):  
Multiagent Systems ◽  
Special Property ◽  
Laplacian Matrix ◽  
Graph Laplacian ◽  
Consensus Problem ◽  
Time Intervals ◽  
Fast Switching ◽  
Switching Topologies ◽  
Directed Spanning Tree ◽  
Theoretical Results

This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.

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.

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