Switching Topology

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Long Wang - One of the best experts on this subject based on the ideXlab platform.

  • controllability analysis of multi agent systems with Switching Topology over finite fields
    Science in China Series F: Information Sciences, 2019
    Co-Authors: Lin Zhang, Long Wang
    Abstract:

    In this paper, we investigate the controllability problem of multi-agent systems with Switching Topology over finite fields.The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet.Under leader-follower structure, one agent is selected as a leader for each subsystem.First, we prove that a multi-agent system with SwitchingTopology is controllable over a finite field if the graph of the subsystemis a spanning forest, and the size of the field is sufficiently large.Second, we show that, by appropriately selecting leaders, the multi-agent system with Switching Topology can becontrollable over a finite field even if each of its subsystems is not controllable.Specifically, we show that the number of leaders for ensuring controllability of theswitched multi-agent system is less thanthe minimum number of leaders for ensuring the controllability of all subsystems.Finally, it is proved that the multi-agent system iscontrollable over a finite field if the union of the graphs is a directed path graph or a star graph.

  • consensus of multiple dynamic agents with sampled information
    Iet Control Theory and Applications, 2010
    Co-Authors: Yanping Gao, Long Wang
    Abstract:

    The authors are concerned with consensus problems in undirected networks of multiple agents with second-order dynamics, where each agent can only obtain the measurements of its positions relative to its neighbours at sampling instants. A new protocol based on sampled-data control is proposed so that all agents can reach consensus on their positions and velocities, respectively. Both fixed and Switching Topology cases are considered. For the fixed Topology case, a sufficient and necessary condition for consensus is derived in the case without time delays, and an allowable upper bound of time delays is obtained in the case with time delays. For the Switching Topology case, sufficient conditions are established for consensus under arbitrary Switching signals and under a class of Switching signals, respectively. Simulations are provided to illustrate the effectiveness of the theoretical results.

  • consensus seeking of high order dynamic multi agent systems with fixed and Switching topologies
    International Journal of Control, 2010
    Co-Authors: Fangcui Jiang, Long Wang
    Abstract:

    This article studies a consensus problem for a group of high-order dynamic agents with fixed and Switching topologies. Two linear consensus protocols, which only depend on the agent's own information and its neighbours' partial information, are proposed, respectively, for the group with and without communication time-delays. For the case of fixed Topology and zero communication time-delay, a necessary and sufficient condition for the consensus is established. The parameter design of the protocol is also discussed. Under Switching Topology, the consensus is investigated for two cases: the case of zero communication time-delay and the case of nonuniform communication time-delays. For each case, a sufficient condition for the consensus is provided. Moreover, for a group of double/triple-integrator agents with fixed Topology and uniform constant time-delay, some necessary and sufficient conditions for the consensus are given. Finally, numerical simulations are worked out to illustrate the effectiveness of the...

  • consensus of high order dynamic multi agent systems with Switching Topology and time varying delays
    Journal of Control Theory and Applications, 2010
    Co-Authors: Fangcui Jiang, Long Wang, Guangming Xie
    Abstract:

    This paper studies the consensus problems for a group of agents with Switching Topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent’s own information and its neighbors’ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.

  • consensus in networked multi agent systems via sampled control Switching Topology case
    American Control Conference, 2009
    Co-Authors: Long Wang
    Abstract:

    In this paper, consensus problems of continuous-time networked multi-agent systems via sampled control are investigated. The sampled control protocols are induced from continuous-time linear consensus protocol by using periodic sampling technology and zero-order hold circuit. Two cases are considered: 1) networks without sampling delay; 2) networks with sampling delay. For each case, an algebraic-type necessary and sufficient condition is obtained under which consensus is achieved. Some numerical simulations are presented, which are consistent with our theoretical results.

Zhang Ren - One of the best experts on this subject based on the ideXlab platform.

  • time varying formation of second order discrete time multi agent systems under non uniform communication delays and Switching Topology with application to uav formation flying
    Iet Control Theory and Applications, 2020
    Co-Authors: Jianhua Wang, Liang Han, Xiwang Dong, Zhang Ren
    Abstract:

    In this study, the time-varying formation control problem for the second-order discrete-time multi-agent systems is investigated, where both the non-uniform communication time-delays and Switching Topology are taken into account. A linear discrete-time formation protocol is developed based on the neighbouring relative position and velocity information. Using the state transformation method and properties of the stochastic matrix, the formation feasibility condition is given and sufficient conditions for the discrete-time multi-agent systems to accomplish the time-varying formation are established. An unmanned aerial vehicles (UAVs) formation experiment platform is constructed. Using four quadrotor UAVs, UAV formation flying experiments are performed to verify the effectiveness and reliability of the discrete-time formation protocol. The experimental results show that the theoretical results can be used to deal with the time-varying formation control problem for multiple UAVs system with communication delays and Switching Topology.

Yingmin Jia - One of the best experts on this subject based on the ideXlab platform.

  • an iterative learning approach to formation control of multi agent systems
    Systems & Control Letters, 2012
    Co-Authors: Yang Liu, Yingmin Jia
    Abstract:

    Abstract In this paper, an efficient framework is proposed to the formation control problem of multiple agents with unknown nonlinear dynamics, by means of the iterative learning approach. In particular, a distributed D-type iterative learning scheme is developed for the multi-agent system with Switching Topology, whose Switching time and sequence are allowed to be varied at different iterations according to the actual trajectories of agents, and a sufficient condition is derived to ensure that the desired formation can be always preserved from the initial starting location to the final one after some iterations. Simulation results are provided to verify the effectiveness of the proposed approach.

  • h consensus control of multi agent systems with Switching Topology a dynamic output feedback protocol
    International Journal of Control, 2010
    Co-Authors: Yang Liu, Yingmin Jia
    Abstract:

    This article is devoted to the consensus control for Switching networks of multiple agents with linear coupling dynamics and subject to external disturbances, which is transformed into an H ∞ control problem by defining an appropriate controlled output. On this basis, a distributed dynamic output feedback protocol is proposed with an undetermined system matrix, and a condition in terms of linear matrix inequalities (LMIs) is derived to ensure consensus of the multi-agent system with a prescribed H ∞ level. Furthermore, system matrix of the protocol is designed by solving two LMIs. A numerical example is included to illustrate the effectiveness of the proposed consensus protocol.

  • average consensus in networks of multi agents with both Switching Topology and coupling time delay
    Physica A-statistical Mechanics and Its Applications, 2008
    Co-Authors: Peng Lin, Yingmin Jia
    Abstract:

    Abstract This paper is devoted to the study of the average-consensus problem in directed networks of agents with both Switching Topology and time-delay. The stability analysis is performed based on a proposed Lyapunov–Krasovskii function. Sufficient conditions in terms of linear matrix inequalities (LMIs) are given to guarantee the average consensus under arbitrary Switching of the network Topology even if the time-delay is time-varying. Numerical simulations show the effectiveness of our theoretical results.

Yuping Tian - One of the best experts on this subject based on the ideXlab platform.

Wei Zhu - One of the best experts on this subject based on the ideXlab platform.

  • Event-Triggering Sampling Based Leader-Following Consensus in Second-Order Multi-Agent Systems
    IEEE Transactions on Automatic Control, 2015
    Co-Authors: Xiaofeng Liao, Tingwen Huang, Wei Zhu
    Abstract:

    In this note, the problem of second-order leader-following consensus by a novel distributed event-triggered sampling scheme in which agents exchange information via a limited communication medium is studied. Event-based distributed sampling rules are designed, where each agent decides when to measure its own state value and requests its neighbor agents broadcast their state values across the network when a locally-computed measurement error exceeds a state-dependent threshold. For the case of fixed Topology, a necessary and sufficient condition is established. For the case of Switching Topology, a sufficient condition is obtained under the assumption that the time-varying directed graph is uniformly jointly connected. It is shown that the inter-event intervals are lower bounded by a strictly positive constant, which excludes the Zeno-behavior before the consensus is achieved. Numerical simulation examples are provided to demonstrate the correctness of theoretical results.

  • brief paper leader following consensus of second order agents with multiple time varying delays
    Automatica, 2010
    Co-Authors: Wei Zhu, Daizhan Cheng
    Abstract:

    In this paper, a leader-following consensus problem of second-order multi-agent systems with fixed and Switching topologies as well as non-uniform time-varying delays is considered. For the case of fixed Topology, a necessary and sufficient condition is obtained. For the case of Switching Topology, a sufficient condition is obtained under the assumption that the total period over which the leader is globally reachable is sufficiently large. We not only prove that a consensus is reachable asymptotically but also give an estimation of the convergence rate. An example with simulation is presented to illustrate the theoretical results.

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