scholarly journals Containment Control of Multiagent Systems with Multiple Leaders and Noisy Measurements

2012 ◽  
Vol 2012 ◽  
pp. 1-9 ◽  
Author(s):  
Zhao-Jun Tang ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao
Keyword(s):  
Convex Hull ◽  
Multiagent Systems ◽  
Stochastic Approximation ◽  
Mean Square ◽  
Containment Control ◽  
Simulation Results ◽  
Approximation Type ◽  
Noisy Measurements ◽  
Multiple Leaders ◽  
Theoretical Results

We consider the distributed containment control of multiagent systems with multiple stationary leaders and noisy measurements. A stochastic approximation type and consensus-like algorithm is proposed to solve the containment control problem. We provide conditions under which all the followers can converge both almost surely and in mean square to the stationary convex hull spanned by the leaders. Simulation results are provided to illustrate the theoretical results.

scholarly journals Consensus of Multiagent Systems with Sampled Information and Noisy Measurements

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Zhao-Jun Tang ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao
Keyword(s):  
Multiagent Systems ◽  
Directed Network ◽  
First Order ◽  
Network Topologies ◽  
Strong Consensus ◽  
Measurement Noises ◽  
Simulation Results ◽  
Approximation Type ◽  
Noisy Measurements ◽  
Theoretical Results

We consider consensus problems of first-order multiagent systems with sampled information and noisy measurements. A distributed stochastic approximation type algorithm is employed to attenuate the measurement noises. We provide conditions under which almost sure strong consensus is guaranteed for fixed and switching directed network topologies. Simulation results are provided to illustrate the theoretical results.

scholarly journals Containment Control of First-Order Multi-Agent Systems under PI Coordination Protocol

Algorithms ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 209
Author(s):  
Mingyang Huang ◽  
Chenglin Liu ◽  
Liang Shan
Keyword(s):  
Convex Hull ◽  
Frequency Domain Analysis ◽  
Convergence Condition ◽  
Multi Agent Systems ◽  
Containment Control ◽  
First Order ◽  
Leaders And Followers ◽  
Multi Agent ◽  
Multiple Leaders ◽  
Theoretical Results

This paper investigates the containment control problem of discrete-time first-order multi-agent system composed of multiple leaders and followers, and we propose a proportional-integral (PI) coordination control protocol. Assume that each follower has a directed path to one leader, and we consider several cases according to different topologies composed of the followers. Under the general directed topology that has a spanning tree, the frequency-domain analysis method is used to obtain the sufficient convergence condition for the followers achieving the containment-rendezvous that all the followers reach an agreement value in the convex hull formed by the leaders. Specially, a less conservative sufficient condition is obtained for the followers under symmetric and connected topology. Furthermore, it is proved that our proposed protocol drives the followers with unconnected topology to converge to the convex hull of the leaders. Numerical examples show the correctness of the theoretical results.

scholarly journals Mean Square Consensus for Uncertain Multiagent Systems with Noises and Delays

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Yuangong Sun
Keyword(s):  
Multiagent Systems ◽  
Stochastic Analysis ◽  
Matrix Theory ◽  
Time Varying ◽  
Mean Square ◽  
Numerical Examples ◽  
Measurement Noises ◽  
Approximation Type ◽  
Theoretical Results ◽  
Mean Square Consensus

This paper investigates the consensus problem in mean square for uncertain multiagent systems with stochastic measurement noises and symmetric or asymmetric time-varying delays. By combining the tools of stochastic analysis, algebraic graph theory, and matrix theory, we analyze the convergence of a class of distributed stochastic approximation type protocols with time-varying consensus gains. Numerical examples are also given to illustrate the theoretical results.

scholarly journals On the Group Controllability of Leader-Based Continuous-Time Multiagent Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Bo Liu ◽  
Licheng Wu ◽  
Rong Li ◽  
Housheng Su ◽  
Yue Han
Keyword(s):  
Numerical Simulations ◽  
Multiagent Systems ◽  
Continuous Time ◽  
Entire Group ◽  
Multiple Leaders ◽  
Theoretical Results

The group controllability of continuous-time multiagent systems (MASs) with multiple leaders is considered in this paper, where the entire group is compartmentalized into a few subgroups. The group controllability concept of continuous-time MASs with multiple leaders is put forward, and the group controllability criteria are obtained for switching and fixed topologies, respectively. Finally, the numerical simulations are given to prove the validity of the theoretical results.

scholarly journals Consensus of Fractional-Order Multiagent Systems with Nonuniform Time Delays

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Jun Liu ◽  
Kaiyu Qin ◽  
Wei Chen ◽  
Ping Li ◽  
Mengji Shi
Keyword(s):  
Multiagent Systems ◽  
Fractional Order ◽  
Time Delays ◽  
External Environment ◽  
Domain Theory ◽  
Dynamical Model ◽  
Integer Order ◽  
The Laplace Transform ◽  
Simulation Results ◽  
Theoretical Results

Due to the complex external environment, many multiagent systems cannot be precisely described or even cannot be described by an integer-order dynamical model and can only be described by a fractional-order dynamical model. In this paper, consensus problems are investigated for two types of fractional-order multiagent systems (FOMASs) with nonuniform time delays: FOMAS with symmetric time delays and undirected topology and FOMAS with asymmetric time delays and directed topology. Employing the Laplace transform and the frequency-domain theory, two delay margins are obtained to guarantee the consensus for the two types of FOMAS, respectively. These results are also suitable for the integer-order dynamical model. Finally, simulation results are provided to illustrate the effectiveness of our 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.

Efficient Beam-Forming for Maximum Outage of Cognitive Relay Networks

2014 ◽  
Vol 926-930 ◽  
pp. 2321-2324
Author(s):  
Zi Jun Liu ◽  
Zhan Gao ◽  
Guo Xin Li ◽  
Hai Tao Zhang
Keyword(s):  
Mean Square Error ◽  
Multiple Antennas ◽  
Minimum Mean Square Error ◽  
Relay Networks ◽  
Beam Forming ◽  
Mean Square ◽  
Cognitive Relay Networks ◽  
Optimal Beam ◽  
Simulation Results ◽  
Theoretical Results

We consider the scenario of cognitive relay networks, where the cognitive relay is equipped with multiple antennas and the cognitive destinations have only one antenna due to the size and cost limitations. Aiming to maximize the signal-to-interference noise ratio (SINR), we develop the optimal beam-forming scheme for the relay case. The proposed scheme is based on minimum mean square error (MMSE). The theoretical results are validated by simulations. Simulation results show that the proposed scheme has a considerable performance.

scholarly journals Collective Coordination of High-Order Dynamic Multiagent Systems Guided by Multiple Leaders

2011 ◽  
Vol 2011 ◽  
pp. 1-11
Author(s):  
Xin-Lei Feng ◽  
Ting-Zhu Huang ◽  
Jin-Liang Shao
Keyword(s):  
Multiagent Systems ◽  
Sufficient Conditions ◽  
Second Order ◽  
High Order ◽  
Necessary And Sufficient Conditions ◽  
Numerical Examples ◽  
Necessary And Sufficient ◽  
Multiple Leaders ◽  
Theoretical Results

For second-order and high-order dynamic multiagent systems with multiple leaders, the coordination schemes that all the follower agents flock to the polytope region formed by multiple leaders are considered. Necessary and sufficient conditions which the follower agents can enter the polytope region by the leaders are obtained. Finally, numerical examples are given to illustrate our theoretical results.

scholarly journals Adaptive Fuzzy Containment Control for Uncertain Nonlinear Multiagent Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Yang Yu ◽  
Kang-Hyun Jo
Keyword(s):  
Multiagent Systems ◽  
Output Feedback ◽  
State Feedback ◽  
Control Method ◽  
Directed Graphs ◽  
Lyapunov Stability Theory ◽  
Fuzzy Logic Systems ◽  
Containment Control ◽  
Control Scheme ◽  
Multiple Leaders

This paper considers the containment control problem for uncertain nonlinear multiagent systems under directed graphs. The followers are governed by nonlinear systems with unknown dynamics while the multiple leaders are neighbors of a subset of the followers. Fuzzy logic systems (FLSs) are used to identify the unknown dynamics and a distributed state feedback containment control protocol is proposed. This result is extended to the output feedback case, where observers are designed to estimate the unmeasurable states. Then, an output feedback containment control scheme is presented. The developed state feedback and output feedback containment controllers guarantee that the states of all followers converge to the convex hull spanned by the dynamic leaders. Based on Lyapunov stability theory, it is proved that the containment control errors are uniformly ultimately bounded (UUB). An example is provided to show the effectiveness of the proposed control method.

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