Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of...Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.展开更多
Real-time kinematic GPS precise positioning has been playing an increasing role in both surveying and navigation. Based on the city’s fibre LAN network, Shenzhen Continuous Operating Reference Stations (SZCORS) syste...Real-time kinematic GPS precise positioning has been playing an increasing role in both surveying and navigation. Based on the city’s fibre LAN network, Shenzhen Continuous Operating Reference Stations (SZCORS) system has been established and consists of GPS reference stations, system control center, user’s data center, and real-time datacom network. The SZCORS system provides users the real-time centimeter positioning or post-processing millimeter positioning. This paper makes discussion on the structure of SZCORS system. Some experiments have been made to test the usablity, and then the data has been analyzed.展开更多
基金Projects(61075065,60774045) supported by the National Natural Science Foundation of ChinaProject supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China
文摘Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.
文摘Real-time kinematic GPS precise positioning has been playing an increasing role in both surveying and navigation. Based on the city’s fibre LAN network, Shenzhen Continuous Operating Reference Stations (SZCORS) system has been established and consists of GPS reference stations, system control center, user’s data center, and real-time datacom network. The SZCORS system provides users the real-time centimeter positioning or post-processing millimeter positioning. This paper makes discussion on the structure of SZCORS system. Some experiments have been made to test the usablity, and then the data has been analyzed.
