The staticε-consensus problem for a high-order linear multi-agent system is studied over a connected undirected communication topology,in which the state measurements of neighbors are affected by unknown but bounded(...The staticε-consensus problem for a high-order linear multi-agent system is studied over a connected undirected communication topology,in which the state measurements of neighbors are affected by unknown but bounded(UBB)noises.Using the dead-zone function and binomial coefficients,we propose a distributed consensus protocol.Under this protocol,all agents achieve staticε-consensus,i.e.,the first components of the states for each agent reachε-consensus,and the remaining components reach agreement at zero.Numerical examples illustrate the validity of the theoretical results.展开更多
The distributed leader-following consensus for nonlinear multi-agent systems in strict-feedback forms is investigated under directed topology. Firstly, each follower node is modeled by an integrator incorporating with...The distributed leader-following consensus for nonlinear multi-agent systems in strict-feedback forms is investigated under directed topology. Firstly, each follower node is modeled by an integrator incorporating with nonlinear dynamics. The leader node is modeled as an autonomous nonlinear system which sends its information to one or more followers. Then, a simple and novel distributed protocol is proposed based only on the state feedback, under which the states of the followers ultimately synchronize to the leader. By using Lyapunov stability theorem and matrix theory, it is proved that the distributed leader-following consensus of nonlinear multi-agent systems with strict-feedback form is guaranteed by Lipschitz continuous control laws. Finally, some numerical simulations are provided to show the effectiveness of the developed method.展开更多
Within the affine connection framework of Lagrangia, n control systems,based on the results of Sussmann on controllability of general affine control systems defined on a finite-dimensional manifold, a computable suffi...Within the affine connection framework of Lagrangia, n control systems,based on the results of Sussmann on controllability of general affine control systems defined on a finite-dimensional manifold, a computable sufficient condition of configuration controllability for the simple mechanical control systems was extended to the case of systems with strictly dissipative energy terms of linear isotropic nature, and a sufficient condition of equilibrium controllability for the systems was also given, where Lagrangian is kinetic energy minus potential energy. Lie bracketting of vector fields in controllable Lie algebra, and the symmetric product associated with Levi-Civita connection show virtues in the discussion. Liouville vector field simplified the computation of controllable Lie algebra for the systems, although the terms of potential energy complicated the study of configuration controllability.展开更多
基金National Natural Science Foundation of China(No.12001097)Fundamental Research Funds for the Central Universities,China(No.2232021G-13)。
文摘The staticε-consensus problem for a high-order linear multi-agent system is studied over a connected undirected communication topology,in which the state measurements of neighbors are affected by unknown but bounded(UBB)noises.Using the dead-zone function and binomial coefficients,we propose a distributed consensus protocol.Under this protocol,all agents achieve staticε-consensus,i.e.,the first components of the states for each agent reachε-consensus,and the remaining components reach agreement at zero.Numerical examples illustrate the validity of the theoretical results.
基金National Natural Science Foundation of China(No.61374024)
文摘The distributed leader-following consensus for nonlinear multi-agent systems in strict-feedback forms is investigated under directed topology. Firstly, each follower node is modeled by an integrator incorporating with nonlinear dynamics. The leader node is modeled as an autonomous nonlinear system which sends its information to one or more followers. Then, a simple and novel distributed protocol is proposed based only on the state feedback, under which the states of the followers ultimately synchronize to the leader. By using Lyapunov stability theorem and matrix theory, it is proved that the distributed leader-following consensus of nonlinear multi-agent systems with strict-feedback form is guaranteed by Lipschitz continuous control laws. Finally, some numerical simulations are provided to show the effectiveness of the developed method.
文摘Within the affine connection framework of Lagrangia, n control systems,based on the results of Sussmann on controllability of general affine control systems defined on a finite-dimensional manifold, a computable sufficient condition of configuration controllability for the simple mechanical control systems was extended to the case of systems with strictly dissipative energy terms of linear isotropic nature, and a sufficient condition of equilibrium controllability for the systems was also given, where Lagrangian is kinetic energy minus potential energy. Lie bracketting of vector fields in controllable Lie algebra, and the symmetric product associated with Levi-Civita connection show virtues in the discussion. Liouville vector field simplified the computation of controllable Lie algebra for the systems, although the terms of potential energy complicated the study of configuration controllability.
