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.

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 Consensus of Multiagent Systems with Directed Topology and Communication Time Delay Bases on the Laplace Transform

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Bo Liu ◽  
Li Wang ◽  
Dehui Sun ◽  
Xinmao Zhu
Keyword(s):  
Time Delay ◽  
Laplace Transform ◽  
Multiagent Systems ◽  
Consensus Problem ◽  
Directed Topology ◽  
Communication Time ◽  
The Laplace Transform ◽  
Initial States ◽  
Directed Topologies ◽  
Theoretical Results

This paper investigates the consensus problem of multiagent systems with directed topologies. Different from the literatures, a new method, the Laplace transform, to study the consensus of multiagent systems with directed topology and communication time delay is proposed. The accurate state of the consensus center and the upper bound of the communication delay to make the agents reach consensus are given. It is proved that all the agents could aggregate and eventually form a cohesive cluster in finite time under certain conditions, and the consensus center is only determined by the initial states and the communication configuration among the agents. Finally, simulations are given to illustrate the theoretical results.

scholarly journals Group Consensus of Heterogeneous Multiagent Systems with Time Delay

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Weixun Li ◽  
Liqiong Zhang
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Control Algorithm ◽  
Sufficient Conditions ◽  
Lyapunov Stability Theory ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Group Consensus ◽  
Communication Time ◽  
Theoretical Results

In this paper, a neighbour-based control algorithm of group consensus is designed for a class of hybrid-based heterogeneous multiagent systems with communication time delay. We consider the statics leaders and active leaders, respectively. The original systems are transformed into new error systems by transformation. On the basis of the systems, applying Lyapunov stability theory and adopting the linear matrix inequality method, sufficient conditions which guarantee the heterogeneous multiagent systems stability are obtained. To illustrate the validity of theoretical results, some numerical simulations are given at the end of the paper.

Time Delay-Free Nonlinear Bilateral Teleoperation With Model-Based Predictive Display

2001 ◽  
Author(s):  
Vicente Parra-Vega
Keyword(s):  
Nonlinear Dynamics ◽  
Time Delay ◽  
Finite Time ◽  
Linear Models ◽  
Sliding Mode ◽  
Linear Time ◽  
Contact Forces ◽  
Rigorous Result ◽  
Model Based ◽  
Predictive Display

Abstract Robotic teleoperation is a difficult task because of the inherent difficulty to model and control time-delay nonlinear models. In order to handle tractable models, typically there have been two ways to tackle this problem: i) The first approach is to assume that the system is fast enough and thus the time delay can be neglected, in this way time-delay-free differential equations are obtained such that the controller is time-delay-free. This approach needs further formal study to validate this assumption, and so far there is neither strict nor rigorous result that support this claim, when considering the full nonlinear telerobotic dyanmics. ii) In the second approach, the time delay is considered explicitly, however typically nonlinear dynamics is neglected and then linear models are used to derive time-delay-based control systems. The second approach ignores that the robots are nonlinear systems with strong nonlinear inertial couplings, and therefore controllers based on linear time-delay models render low performance. In this paper, the teleoperation of robots is modeled, including nonlinear dynamics in the continuous domain, without any time delay, and model-based nonlinear continuous second order sliding mode controllers are proposed which guarantee finite-time convergence. Thus, this approach attempts to propose a scheme for the second approach outlined above. The teleoperation system provides force reflection to the human operator, and a kinematic-based predictive display yields visual stimuli while the master robot yields kinesthetic feedback to the operator to allow planning better desired trajectories, including contact forces, in contrast to other predictive displays that have been proposed in the literature. Therefore, the theoretical foundations of finite-time convergent telecontrol system and its advantages are discussed.

scholarly journals Multiconsensus of Nonlinear Multiagent Systems with Intermittent Communication

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Jie Chen ◽  
Guang-Hui Xu ◽  
Liang Geng
Keyword(s):  
Nonlinear Dynamics ◽  
Lyapunov Function ◽  
Multiagent Systems ◽  
Closed Loop ◽  
Sufficient Conditions ◽  
Control Parameters ◽  
Numerical Examples ◽  
Relative Information ◽  
Loop Dynamics ◽  
Intermittent Communication

Compared with single consensus, the multiconsensus of multiagent systems with nonlinear dynamics can reflect some real-world cases. This paper proposes a novel distributed law based only on intermittent relative information to achieve the multiconsensus. By constructing an appropriate Lyapunov function, sufficient conditions on control parameters are derived to undertake the reliability of closed-loop dynamics. Ultimately, the availability of results is completely validated by these numerical examples.

scholarly journals Hopf Bifurcation and Dynamic Analysis of an Improved Financial System with Two Delays

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
G. Kai ◽  
W. Zhang ◽  
Z. Jin ◽  
C. Z. Wang
Keyword(s):  
Nonlinear Dynamics ◽  
Hopf Bifurcation ◽  
Equilibrium Point ◽  
Chaotic System ◽  
Financial System ◽  
Two Delays ◽  
Normal Form Method ◽  
The Stability ◽  
Manifold Theory ◽  
Theoretical Results

The complex chaotic dynamics and multistability of financial system are some important problems in micro- and macroeconomic fields. In this paper, we study the influence of two-delay feedback on the nonlinear dynamics behavior of financial system, considering the linear stability of equilibrium point under the condition of single delay and two delays. The system undergoes Hopf bifurcation near the equilibrium point. The stability and bifurcation directions of Hopf bifurcation are studied by using the normal form method and central manifold theory. The theoretical results are verified by numerical simulation. Furthermore, one feature of the proposed financial chaotic system is that its multistability depends extremely on the memristor initial condition and the system parameters. It is shown that the nonlinear dynamics of financial chaotic system can be significantly changed by changing the values of time delays.

scholarly journals Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Haiying Ma ◽  
Xiao Jia ◽  
Ning Cai ◽  
Jianxiang Xi
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Convergence Speed ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Consensus Control ◽  
Control Gain ◽  
Multi Agent ◽  
The Stability ◽  
Theoretical Results

In this paper, adaptive guaranteed-performance consensus control problems for multiagent systems with an adjustable convergence speed are investigated. A novel adaptive guaranteed-performance consensus protocol is proposed, where the communication weights can be adaptively regulated. By the state space decomposition method and the stability theory, sufficient conditions for guaranteed-performance consensus are obtained and the guaranteed-performance cost is determined. Moreover, the lower bound of the convergence coefficient for multiagent systems is deduced, which is linearly adjustable approximately by changing the adaptive control gain. Finally, simulation examples are introduced to demonstrate theoretical results.

scholarly journals Consensus Learning Control for Leader-Following Nonlinear Multiagent Systems with Control Delay

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Xiongfeng Deng ◽  
Xiuxia Sun ◽  
Shuguang Liu
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Iterative Learning Control ◽  
Learning Control ◽  
Control Delay ◽  
Consensus Tracking ◽  
Control Scheme ◽  
Communication Topology ◽  
Leader Following ◽  
Theoretical Results

In this paper, the consensus tracking problem of leader-following nonlinear control time-delay multiagent systems with directed communication topology is addressed. An improved high-order iterative learning control scheme with time-delay is proposed, where the local information between agents is considered. The uniformly global Lipschitz condition is applied to deal with the nonlinear dynamics. Then, a sufficient condition is driven, which guarantees that all the following agents track the trajectory of leader. Also, the convergence of proposed control protocol is analyzed by the norm theory. Finally, two cases are provided to illustrate the validity of theoretical results.

The Effect of Time Delay on the Stability Control of Trailers

2020 ◽  
Author(s):  
Hanna Zs. Horvath ◽  
Denes Takacs
Keyword(s):  
Time Delay ◽  
Control Algorithm ◽  
Lateral Displacement ◽  
Stability Control ◽  
Vertical Position ◽  
Control Torque ◽  
Yaw Rate ◽  
The Stability ◽  
Yaw Angle ◽  
Theoretical Results

Abstract The instability of the car-trailer systems very often leads to the snaking and/or rocking motions of trailers. In order to reduce the safety risk of these unwanted vibrations, stability control can be applied. In this paper, we use a spatial trailer model to analyze the effect of a possible control algorithm, which actuates by means of braking. For the sake of simplicity, the dynamics of the towing vehicle is modeled by the lateral displacement of the tow hitch that is supported laterally by a spring and damper. The longitudinal speed of the vehicle is kept constant. The effect of the braking forces are emulated in our study via a control torque, which is proportional to the yaw angle and the yaw rate. The time delay of the controller is also considered. Linear stability charts are constructed in the plane of the different system parameters. Linearly stable and unstable parameter domains are identified both for the vertical position of the center of gravity and the control gains. Numerical simulations are used to validate the theoretical results.

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