This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of un...This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.展开更多
This paper addresses the consensus problem of general linear multi-agent systems with persistent disturbances by distributed output feedback. Suppose that states of agents can not be obtained directly. Several estimat...This paper addresses the consensus problem of general linear multi-agent systems with persistent disturbances by distributed output feedback. Suppose that states of agents can not be obtained directly. Several estimators are designed to observe states of agents and the unknown disturbances. A protocol is proposed to drive all agents achieve consensus. Based on the method of model transforniation and the property of permutation matrix, sufficient conditions for consensus are obtained in terms of linear matrix inequalities. Finally, simulations are given to show the effectiveness of presented results.展开更多
This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect a...This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.展开更多
This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the lea...This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents,are investigated in this paper.Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems.For the MAS without any leader,the trajectories of all agents converge together when the communication networks contain a directed spanning tree.For the MAS with multiple leaders,the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent.Simulation examples are provided to verify the theoretical results.展开更多
The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the un...The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the unique solvability result for the first-order linear hyperbolic PDE are used to obtain some sufficient conditions for ensuring the finite-time consensus of the leaderless and leader-following MASs driven by first-order linear hyperbolic PDEs.Finally,two numerical examples are provided to verify the effectiveness of the proposed methods.展开更多
This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected co...This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected communication topology.A distributed observer is designed to estimate the desired attitude and angular velocity for each spacecraft under the generated tree graph.An adaptive controller with a general connected undirected graph is developed to complete the synchronization task.Cases with zero and nonzero final angular velocities are considered.Theoretical proofs and numerical simulations are presented to demonstrate the effectiveness of the proposed controllers.展开更多
无领导小组讨论(Leaderless Group Discussion,以下简称LGD)教学法是是基于小组合作学习教学法、模拟情景教学法、角色扮演法、案例教学法和项目教学法等六种外语教学法的一种集成创新。多元集成的LGD教学法具有的涵摄性特征,在实践中...无领导小组讨论(Leaderless Group Discussion,以下简称LGD)教学法是是基于小组合作学习教学法、模拟情景教学法、角色扮演法、案例教学法和项目教学法等六种外语教学法的一种集成创新。多元集成的LGD教学法具有的涵摄性特征,在实践中符合基于能力本位的教育观、适应工作过程的课程观、适应行动导向的教学观、适应学习情景的建设观、有利于完成职业胜任的评价观的要求,具有良好的应用前景。对LGD教学法的观点作出科学的推导和证明,则有待于我们对高职教育规律的深入探讨与更多的工学结合实践。展开更多
基金Research Grants Council of Hong Kong under Grant CityU-11205221.
文摘This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.
基金supported by the National Natural Science Foundation of China under Grant No.61304155
文摘This paper addresses the consensus problem of general linear multi-agent systems with persistent disturbances by distributed output feedback. Suppose that states of agents can not be obtained directly. Several estimators are designed to observe states of agents and the unknown disturbances. A protocol is proposed to drive all agents achieve consensus. Based on the method of model transforniation and the property of permutation matrix, sufficient conditions for consensus are obtained in terms of linear matrix inequalities. Finally, simulations are given to show the effectiveness of presented results.
基金supported by the National Natural Science Foundation of China under Grant No.61733018Shanghai Natural Science Foundation under Grant No.17ZR1445400+2 种基金China Postdoctoral Science Foundation under Grant Nos.2017M610233 and 2016T90373the Fundamental Research Funds for Central Universities under Grant No.222201714030the US Army Research Office under Grant No.W911NF-17-1-0535
文摘This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.
基金Found ation item:the National Natural Science Foundation of China(No.61903249)the Shanghai Natural Science Foundation(No.172R1445400)。
文摘This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication networks.Two kinds of consensus problems,of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents,are investigated in this paper.Low gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus problems.For the MAS without any leader,the trajectories of all agents converge together when the communication networks contain a directed spanning tree.For the MAS with multiple leaders,the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower agent.Simulation examples are provided to verify the theoretical results.
基金the National Natural Science Foundation of China(Nos.11671282 and 12171339)。
文摘The leaderless and leader-following finite-time consensus problems for multiagent systems(MASs)described by first-order linear hyperbolic partial differential equations(PDEs)are studied.The Lyapunov theorem and the unique solvability result for the first-order linear hyperbolic PDE are used to obtain some sufficient conditions for ensuring the finite-time consensus of the leaderless and leader-following MASs driven by first-order linear hyperbolic PDEs.Finally,two numerical examples are provided to verify the effectiveness of the proposed methods.
基金This work was supported by the National Natural Science Foundation of China under Grant Nos.11832005 and 12102174.
文摘This paper presents a solution to the leaderless consensus of multiple spacecraft on SO(3)under a connected undirected graph.An algorithm is proposed to generate an undirected tree graph from a connected undirected communication topology.A distributed observer is designed to estimate the desired attitude and angular velocity for each spacecraft under the generated tree graph.An adaptive controller with a general connected undirected graph is developed to complete the synchronization task.Cases with zero and nonzero final angular velocities are considered.Theoretical proofs and numerical simulations are presented to demonstrate the effectiveness of the proposed controllers.
文摘无领导小组讨论(Leaderless Group Discussion,以下简称LGD)教学法是是基于小组合作学习教学法、模拟情景教学法、角色扮演法、案例教学法和项目教学法等六种外语教学法的一种集成创新。多元集成的LGD教学法具有的涵摄性特征,在实践中符合基于能力本位的教育观、适应工作过程的课程观、适应行动导向的教学观、适应学习情景的建设观、有利于完成职业胜任的评价观的要求,具有良好的应用前景。对LGD教学法的观点作出科学的推导和证明,则有待于我们对高职教育规律的深入探讨与更多的工学结合实践。
