scholarly journals Leader-Following Regional Multiple-Bipartite Consensus for Networked Lagrangian Systems with Coopetition Interactions

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 920
Author(s):  
Tiehui Zhang ◽  
Hengyu Li ◽  
Zhaoyan Wang ◽  
Shaorong Xie
Keyword(s):  
Auxiliary Variable ◽  
Cooperative Networks ◽  
Lagrangian Systems ◽  
Final States ◽  
Analysis Theory ◽  
Nonlinear Control Theory ◽  
Leader Following ◽  
Bipartite Consensus ◽  
The Stability ◽  
Networked Lagrangian Systems

This paper investigates the leader-following regional multiple-bipartite consensus problems of networked Lagrangian systems (NLSs) in coopetition networks. Our framework expands the application scopes of traditional regional consensus in cooperative networks. With the aid of a novel auxiliary variable embedded in the control protocols, the final states of NLSs are guaranteed to realise multi-regional symmetry in the constructed multiple symmetric regions. By utilising the characteristic of acyclic topology in the structurally balanced graph, the stability of the closed system is performed by perturbation analysis theory, nonlinear control theory, functional analysis theory, and so on. Finally, the effectiveness of our approach is verified by numerical simulations.

Distributed multiple-bipartite consensus in networked Lagrangian systems with cooperative-competitive interactions

2021 ◽  
Author(s):  
Tiehui Zhang ◽  
Hengyu Li ◽  
Jun Liu ◽  
Daowei Lu ◽  
Shaorong Xie ◽  
...  
Keyword(s):  
Collective Behavior ◽  
Lagrangian Systems ◽  
Group Consensus ◽  
Consensus Control ◽  
Control Laws ◽  
Cluster Group ◽  
Competitive Network ◽  
Leader Following ◽  
Bipartite Consensus ◽  
Networked Lagrangian Systems

Abstract In combination with the collective behavior evolutions of bipartite consensus and cluster/group consensus, this paper proposes the notion of multiple-bipartite consensus in networked Lagrangian systems (NLSs). The distributed leaderless and leader-following multiple-bipartite consensus control laws for NLSs are presented in the cooperative-competitive network, where the negative interactions between agents can exist in the same subnetwork. By introducing an acyclic partition and adding the integral item in the control protocols, the final explicit convergence states in the leaderless case are eventually obtained. Moreover, the leader-following scenario can be realized in fifinite time with integrated controllers. All of the effectiveness has been illustrated through numerical simulations.

Practical Bipartite Consensus for Networked Lagrangian Systems in Cooperation-Competition Networks

2021 ◽  
Vol 103 (2) ◽  
Author(s):  
Tiehui Zhang ◽  
Hengyu Li ◽  
Jun Liu ◽  
Huayan Pu ◽  
Shaorong Xie ◽  
...  
Keyword(s):  
Lagrangian Systems ◽  
Bipartite Consensus ◽  
Networked Lagrangian Systems

Group Regional Consensus of Networked Lagrangian Systems With Input Disturbances

2017 ◽  
Vol 139 (9) ◽  
Author(s):  
Jun Liu ◽  
Zhonghua Miao ◽  
Jinchen Ji ◽  
Jin Zhou
Keyword(s):  
Control Algorithm ◽  
Sufficient Conditions ◽  
Coordinated Control ◽  
Multirobot Systems ◽  
Lagrangian Systems ◽  
Parametric Uncertainties ◽  
Lagrangian Dynamics ◽  
Numerical Examples ◽  
The Stability ◽  
Networked Lagrangian Systems

Networked multirobot systems under the coordinated control can perform tasks more effectively than a group of individually operating robots. This paper studies the group regional consensus of networked multirobot systems (formulated by second-order Lagrangian dynamics) having input disturbances under directed acyclic topology. An adaptive control protocol is designed to achieve group regional consensus of the networked Lagrangian systems with parametric uncertainties for both leader and leaderless cases. Sufficient conditions are established to guarantee group regional consensus for any prior given desired consensus errors. Compared with the existing work, a distinctive feature of the proposed control algorithm is that the stability analysis indicates the global validity of the obtained consensus results. Numerical examples are provided to demonstrate the effectiveness of the proposed scheme.

Resilient Leader Tracking for Networked Lagrangian Systems Under DoS Attacks

2021 ◽  
Author(s):  
Xiaolei Li ◽  
Changyun Wen ◽  
Jiange Wang ◽  
Ci Chen ◽  
Chao Deng
Keyword(s):  
Lagrangian Systems ◽  
Dos Attacks ◽  
Networked Lagrangian Systems

scholarly journals A Mechanical Feedback Classification of Linear Mechanical Control Systems

2021 ◽  
Vol 11 (22) ◽  
pp. 10669
Author(s):  
Marcin Nowicki ◽  
Witold Respondek
Keyword(s):  
Control System ◽  
Control Systems ◽  
Lagrangian Systems ◽  
Stabilization Problem ◽  
Mechanical Control ◽  
Stability And Stabilization ◽  
The Stability ◽  
Mechanical Change ◽  
Feedback Classification

We give a classification of linear nondissipative mechanical control system under mechanical change of coordinates and feedback. First, we consider a controllable case that is somehow a mechanical counterpart of Brunovský classification, then we extend the result to all linear nondissipative mechanical systems (not necessarily controllable) which leads to a mechanical canonical decomposition. The classification of Lagrangian systems is given afterwards. Next, we show an application of the classification results to the stability and stabilization problem and illustrate them with several examples. All presented results in this paper are expressed in terms of objects on the configuration space Rn only, while the state-space of a mechanical control system is Rn×Rn consisting of configurations and velocities.

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