scholarly journals Sampled-Data Consensus for High-Order Multiagent Systems under Fixed and Randomly Switching Topology

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Niu Jie ◽  
Li Zhong
Keyword(s):  
Multiagent Systems ◽  
Linear Time ◽  
Sampling Period ◽  
Switching Topology ◽  
Sampled Data ◽  
System Matrix ◽  
Packet Losses ◽  
Linear Time Invariant ◽  
Switching Topologies ◽  
Necessary And Sufficient

This paper studies the sampled-data based consensus of multiagent system with general linear time-invariant dynamics. It focuses on looking for a maximum allowable sampling period bound such that as long as the sampling period is less than this bound, there always exist linear consensus protocols solving the consensus problem. Both fixed and randomly switching topologies are considered. For systems under fixed topology, a necessary and sufficient sampling period bound is obtained for single-input multiagent systems, and a sufficient allowable bound is proposed for multi-input systems by solving theH∞optimal control problem of certain system with uncertainty. For systems under randomly switching topologies, tree-type and complete broadcasting network with Bernoulli packet losses are discussed, and explicit allowable sampling period bounds are, respectively, given based on the unstable eigenvalues of agent’s system matrix and packet loss probability. Numerical examples are given to illustrate the results.

scholarly journals Swarm Stability Analysis of High-Order Linear Time-Invariant Singular Multiagent Systems

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Mingyu Fu ◽  
Shimin Wang ◽  
Yirui Cong
Keyword(s):  
Multiagent Systems ◽  
Stability Problem ◽  
Linear Time ◽  
Sufficient Conditions ◽  
High Order ◽  
Graph Topology ◽  
Order Linear ◽  
Linear Time Invariant ◽  
Necessary And Sufficient ◽  
Time Invariant

The swarm stability problem of high-order linear time-invariant (LTI) singular multiagent systems with directed graph topology is investigated extensively. Consensus of multiagent systems can be regarded as a specific case of swarm stability problem. Necessary and sufficient conditions for both swarm stability and consensus are presented. These conditions depend on the graph topology and generalized inverse theory, the dynamics of agents, and interaction among the neighbours. Several examples to illustrate the effectiveness of theoretical results are given.

Robust stability analysis of LTI systems with fractional degree generalized frequency variables

2019 ◽  
Vol 22 (6) ◽  
pp. 1655-1674
Author(s):  
Cuihong Wang ◽  
Yan Guo ◽  
Shiqi Zheng ◽  
YangQuan Chen
Keyword(s):  
Robust Stability ◽  
Regulatory Networks ◽  
Linear Time ◽  
Exclusion Principle ◽  
Multi Agent Systems ◽  
System Matrix ◽  
Linear Time Invariant ◽  
Robust Stability Analysis ◽  
The Stability ◽  
Necessary And Sufficient

Abstract A novel linear time-invariant (LTI) system model with fractional degree generalized frequency variables (FDGFVs) is proposed in this paper. This model can provide a unified form for many complex systems, including fractional-order systems, distributed-order systems, multi-agent systems and so on. This study mainly investigates the stability and robust stability problems of LTI systems with FDGFVs. By characterizing the relationship between generalized frequency variable and system matrix, a necessary and sufficient stability condition is firstly presented for such systems. Then for LTI systems with uncertain FDGFVs, we present a robust stability method in virtue of zero exclusion principle. Finally, the effectiveness of the method proposed in this paper is demonstrated by analyzing the robust stability of gene regulatory networks.

scholarly journals Consensus of Noisy Multiagent Systems with Markovian Switching Topologies and Time-Varying Delays

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Yilun Shang
Keyword(s):  
Multiagent Systems ◽  
Linear Time ◽  
Design Method ◽  
Sufficient Conditions ◽  
Time Varying ◽  
Linear Time Invariant ◽  
Graph Properties ◽  
Linear Time Invariant Systems ◽  
Necessary And Sufficient ◽  
Time Invariant

Stochastic multiagent systems have attracted much attention during the past few decades. This paper concerns the continuous-time consensus of a network of agents under directed switching communication topologies governed by a time-homogeneous Markovian process. The agent dynamics are described by linear time-invariant systems, with random noises as well as time-varying delays. Two types of network-induced delays are considered, namely, delays affecting only the output of the agents’ neighbors and delays affecting both the agents’ own output and the output of their neighbors. We present necessary and sufficient consensus conditions for these two classes of multiagent systems, respectively. The design method of consensus gains allows for decoupling the design problem from the graph properties. Numerical simulations are implemented to test the effectiveness of our obtained results as well as the tightness of necessary/sufficient conditions.

Continuous control of sampled data systems with robustness against bounded measurement errors

2017 ◽  
Vol 40 (10) ◽  
pp. 3125-3133
Author(s):  
Milad Ghanbari ◽  
Masoud Bahraini ◽  
Mohammad Javad Yazdanpanah
Keyword(s):  
Measurement Errors ◽  
Control Method ◽  
Linear Time ◽  
Continuous Control ◽  
Data Systems ◽  
Sampled Data ◽  
Linear Time Invariant ◽  
Experimental Implementation ◽  
Time Invariant ◽  
Ultimate Bound

This paper considers the design of a generalized hold function to be used for the control of sampled-data systems. The proposed method suggests a continuous controller for sampled data systems. Ultimate boundedness of the proposed method in the presence of bounded measurement errors is also shown for linear and nonlinear systems. In linear time invariant cases, a cost function is suggested for the sake of ultimate bound minimization. In addition, this can answer how we choose a sensor for a real system to get a desired control outcome. Eventually, the effectiveness of the proposed control method is investigated through simulation and experimental implementation.

Coupled Stability of Multiport Systems—Theory and Experiments

1994 ◽  
Vol 116 (3) ◽  
pp. 419-428 ◽  
Author(s):  
J. E. Colgate
Keyword(s):  
Stability Property ◽  
Force Feedback ◽  
Linear Time ◽  
Experimental Studies ◽  
Sufficient Conditions ◽  
Direct Drive ◽  
Property A ◽  
Linear Time Invariant ◽  
The Stability ◽  
Necessary And Sufficient

This paper presents both theoretical and experimental studies of the stability of dynamic interaction between a feedback controlled manipulator and a passive environment. Necessary and sufficient conditions for “coupled stability”—the stability of a linear, time-invariant n-port (e.g., a robot, linearized about an operating point) coupled to a passive, but otherwise arbitrary, environment—are presented. The problem of assessing coupled stability for a physical system (continuous time) with a discrete time controller is then addressed. It is demonstrated that such a system may exhibit the coupled stability property; however, analytical, or even inexpensive numerical conditions are difficult to obtain. Therefore, an approximate condition, based on easily computed multivariable Nyquist plots, is developed. This condition is used to analyze two controllers implemented on a two-link, direct drive robot. An impedance controller demonstrates that a feedback controlled manipulator may satisfy the coupled stability property. A LQG/LTR controller illustrates specific consequences of failure to meet the coupled stability criterion; it also illustrates how coupled instability may arise in the absence of force feedback. Two experimental procedures—measurement of endpoint admittance and interaction with springs and masses—are introduced and used to evaluate the above controllers. Theoretical and experimental results are compared.

scholarly journals Impulsive Consensus for Leader-Following Multiagent Systems with Fixed and Switching Topology

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Zhi-Wei Liu ◽  
Zhi-Hong Guan ◽  
Hong Zhou
Keyword(s):  
Multiagent System ◽  
Impulsive Control ◽  
Sampling Period ◽  
Switching Topology ◽  
Sufficient Condition ◽  
Leader Following ◽  
Fixed Topology ◽  
The Stability ◽  
Sampling Instant ◽  
Necessary And Sufficient

This paper studied the consensus problem of the leader-following multiagent system. It is assumed that the state information of the leader is only available to a subset of followers, while the communication among agents occurs at sampling instant. To achieve leader-following consensus, a class of distributed impulsive control based on sampling information is proposed. By using the stability theory of impulsive systems, algebraic graph theory, and stochastic matrices theory, a necessary and sufficient condition for fixed topology and sufficient condition for switching topology are obtained to guarantee the leader-following consensus of the multiagent system. It is found that leader-following consensus is critically dependent on the sampling period, control gains, and interaction graph. Finally, two numerical examples are given to illustrate the effectiveness of the proposed approach and the correctness of theoretical analysis.

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