This paper investigates limited-budget consensus design and analysis problems of general high-order multiagent systems with intermittent communications and switching topologies.The main contribution of this paper is t...This paper investigates limited-budget consensus design and analysis problems of general high-order multiagent systems with intermittent communications and switching topologies.The main contribution of this paper is that the tradeoff design between the energy consumption and the consensus performance can be realized while achieving leaderless or leaderfollowing consensus,under constraints of limited budgets and intermittent communications.Firstly,a new intermittent limitedbudget consensus control protocol with a practical trade-off design index is proposed,where the total budget of the whole multiagent system is limited.Then,leaderless limited-budget consensus design and analysis criteria are derived,in which the matrix variables of linear matrix inequalities are determined according to the total budget and the practical trade-off design parameters.Meanwhile,an explicit formulation of the consensus function is derived to describe the consensus state trajectory of the whole system.Moreover,a new two-stage transformation strategy is utilized for leader-following cases,by which the dynamics decomposition of leaderless and leader-following cases can be converted into a unified framework,and sufficient conditions of the leader-following limited-budget consensus design and analysis are determined via those of the leaderless cases.Finally,numerical simulations are given to illustrate theoretical results.展开更多
This paper studies the distributed consensus control for linear multi-agent systems under discontinuous communication and control updating.A fully distributed event-triggered adaptive control protocol with strictly po...This paper studies the distributed consensus control for linear multi-agent systems under discontinuous communication and control updating.A fully distributed event-triggered adaptive control protocol with strictly positive minimum interevent time(MIET)guarantees is proposed.First,an event-triggered distributed adaptive control law without using prior global information of network topologies is presented,which achieves asymptotic consensus via discrete control updating and intermittent communication.Then,a hybrid adaptive event-triggering scheme with an internal timer is designed that is activated only when the timer decreases to zero from a specified positive value.Under the proposed triggering scheme,not only Zeno behavior is excluded but also a strictly positive MIET between any two consecutive events is guaranteed,which facilitates the physical implementation.In contrast to the existing related results,the proposed fully distributed protocol only needs low-frequency communication and control updating,while ensuring the strictly positive MIET property.Finally,a simulation example is given to illustrate the effectiveness of the theoretical results.展开更多
This paper considers the distributed Kalman filtering fusion with passive packet loss or initiative intermittent communications from local estimators to fusion center while the process noise does exist. When the local...This paper considers the distributed Kalman filtering fusion with passive packet loss or initiative intermittent communications from local estimators to fusion center while the process noise does exist. When the local estimates are not lost too much, the authors propose an optimal distributed fusion algorithm which is equivalent to the corresponding centralized Kalman filtering fusion with complete communications even if the process noise does exist. When this condition is not satisfied, based on the above global optimality result and sensor data compression, the authors propose a suboptimal distributed fusion algorithm. Numerical examples show that this suboptimal algorithm still works well and significantly better than the standard distributed Kalman filtering fusion subject to packet loss even if the process noise power is quite large.展开更多
This paper studies the sampled data based containment control problem of second-order multi-agent systems with intermittent communications,where velocity measurements for each agent are unavailable.A novel controller ...This paper studies the sampled data based containment control problem of second-order multi-agent systems with intermittent communications,where velocity measurements for each agent are unavailable.A novel controller for second-order containment is put forward via intermittent sampled position data measurement.Several necessary and sufficient conditions are derived to achieve intermittent sampled containment control by means of analyzing the relationship among control gains,eigenvalues of the Laplacian matrix,the sampling period,and the communication width.Finally,several simulation examples are used to testify the correctness and effectiveness of the theoretical results.展开更多
This paper studies consensus of a class of heterogeneous multi-agent systems composed of first-order and second-order agents with intermittent communication. For leaderless multi-agent systems, we propose a distribute...This paper studies consensus of a class of heterogeneous multi-agent systems composed of first-order and second-order agents with intermittent communication. For leaderless multi-agent systems, we propose a distributed consensus algorithm based on the intermittent information of neighboring agents. Some sufficient conditions are obtained to guarantee the consensus of heterogeneous multi-agent systems in terms of bilinear matrix inequalities(BMIs). Meanwhile, the relationship between communication duration and each control period is sought out. Moreover, the designed algorithm is extended to leader-following multi-agent systems without velocity measurements. Finally, the effectiveness of the main results is illustrated by numerical simulations.展开更多
基金supported by the National Natural Science Foundation of China(62003363,61703411)China Postdoctoral Science Foundation(271004)+1 种基金Science Foundation for Distinguished Youth of Shaanxi Province(2021JC-35)Youth Science Foundation of Shaanxi Province(2021JQ-375)。
文摘This paper investigates limited-budget consensus design and analysis problems of general high-order multiagent systems with intermittent communications and switching topologies.The main contribution of this paper is that the tradeoff design between the energy consumption and the consensus performance can be realized while achieving leaderless or leaderfollowing consensus,under constraints of limited budgets and intermittent communications.Firstly,a new intermittent limitedbudget consensus control protocol with a practical trade-off design index is proposed,where the total budget of the whole multiagent system is limited.Then,leaderless limited-budget consensus design and analysis criteria are derived,in which the matrix variables of linear matrix inequalities are determined according to the total budget and the practical trade-off design parameters.Meanwhile,an explicit formulation of the consensus function is derived to describe the consensus state trajectory of the whole system.Moreover,a new two-stage transformation strategy is utilized for leader-following cases,by which the dynamics decomposition of leaderless and leader-following cases can be converted into a unified framework,and sufficient conditions of the leader-following limited-budget consensus design and analysis are determined via those of the leaderless cases.Finally,numerical simulations are given to illustrate theoretical results.
基金supported by the National Key Research and Development Project under Grant No.2020YFC1512503the National Natural Science Foundation of China under Grant No.61991414+1 种基金Chongqing Natural Science Foundation under Grant No.CSTB2023NSCQ-JQX0018Beijing Natural Science Foundation under Grant No.L221005。
文摘This paper studies the distributed consensus control for linear multi-agent systems under discontinuous communication and control updating.A fully distributed event-triggered adaptive control protocol with strictly positive minimum interevent time(MIET)guarantees is proposed.First,an event-triggered distributed adaptive control law without using prior global information of network topologies is presented,which achieves asymptotic consensus via discrete control updating and intermittent communication.Then,a hybrid adaptive event-triggering scheme with an internal timer is designed that is activated only when the timer decreases to zero from a specified positive value.Under the proposed triggering scheme,not only Zeno behavior is excluded but also a strictly positive MIET between any two consecutive events is guaranteed,which facilitates the physical implementation.In contrast to the existing related results,the proposed fully distributed protocol only needs low-frequency communication and control updating,while ensuring the strictly positive MIET property.Finally,a simulation example is given to illustrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China under Grant Nos.60934009, 60901037 and 61004138
文摘This paper considers the distributed Kalman filtering fusion with passive packet loss or initiative intermittent communications from local estimators to fusion center while the process noise does exist. When the local estimates are not lost too much, the authors propose an optimal distributed fusion algorithm which is equivalent to the corresponding centralized Kalman filtering fusion with complete communications even if the process noise does exist. When this condition is not satisfied, based on the above global optimality result and sensor data compression, the authors propose a suboptimal distributed fusion algorithm. Numerical examples show that this suboptimal algorithm still works well and significantly better than the standard distributed Kalman filtering fusion subject to packet loss even if the process noise power is quite large.
基金Project supported by the Tianjin Natural Science Foundation of China(Nos.20JCQNJC01450 and 20JCYBJC01060)the National Natural Science Foundation of China(No.61973175)。
文摘This paper studies the sampled data based containment control problem of second-order multi-agent systems with intermittent communications,where velocity measurements for each agent are unavailable.A novel controller for second-order containment is put forward via intermittent sampled position data measurement.Several necessary and sufficient conditions are derived to achieve intermittent sampled containment control by means of analyzing the relationship among control gains,eigenvalues of the Laplacian matrix,the sampling period,and the communication width.Finally,several simulation examples are used to testify the correctness and effectiveness of the theoretical results.
基金Supported by the National Natural Science Foundation of China(612731200)
文摘This paper studies consensus of a class of heterogeneous multi-agent systems composed of first-order and second-order agents with intermittent communication. For leaderless multi-agent systems, we propose a distributed consensus algorithm based on the intermittent information of neighboring agents. Some sufficient conditions are obtained to guarantee the consensus of heterogeneous multi-agent systems in terms of bilinear matrix inequalities(BMIs). Meanwhile, the relationship between communication duration and each control period is sought out. Moreover, the designed algorithm is extended to leader-following multi-agent systems without velocity measurements. Finally, the effectiveness of the main results is illustrated by numerical simulations.
