ABSTRACT In this paper, a group consensus problem is investigated for multiple networked agents w... more ABSTRACT In this paper, a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain parameters. In the group consensus problem, the agents asymptotically reach several different states rather than one consistent state. A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus problem. It is shown that the group consensus is reachable even when the system contains the uncertain parameters. Furthermore, the multi-group consensus is discussed as an extension of the couple-group consensus, and then the group consensus with switching topology is considered. Simulation results are finally provided to validate the effectiveness of the theoretical analysis.
Proceedings of the 33rd Chinese Control Conference, 2014
ABSTRACT Distributed consensus tracking is addressed in this paper for multi-agent systems with L... more ABSTRACT Distributed consensus tracking is addressed in this paper for multi-agent systems with Lipschitz-type node dynamics. The main contribution of this work is solving the consensus tracking problem without the assumption that the topology among followers is strongly connected and fixed. By using tools from $M$-matrix theory, a class of consensus tracking protocols based only on the relative states among neighboring agents is designed. By appropriately constructing Lyapunov function, it is proved that consensus tracking in the closed-loop multi-agent systems with a fixed topology having a directed spanning tree can be achieved if the feedback gain matrix and the coupling strength are suitably selected. Furthermore, with the assumption that each possible topology contains a directed spanning tree, it is theoretically shown that consensus tracking under switching directed topologies can be achieved if the control parameters are suitably selected and the dwell time is larger than a positive threshold. The results are then extended to the case where the communication topology contains a directed spanning tree only frequently as the system evolves with time. Finally, some numerical simulations are given to verify the theoretical analysis.
2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, 2013
ABSTRACT The concept of node-to-node consensus is introduced and discussed in this paper. Unlike ... more ABSTRACT The concept of node-to-node consensus is introduced and discussed in this paper. Unlike most of the existing literature which focuses on designing distributed protocols to guarantee the states of all agents to converge to the same, the coordination goal in the present framework is to employ some distributed control laws such that each follower can track its corresponding leader while the whole system may not achieve consensus. It is assumed that there are two levels in the considered multi-agent systems, that is, the leader's and the follower's levels. Furthermore, the dynamics of each leader may only be affected by those of its neighbors in the leader's level while the dynamics of each follower may be affected by those of its neighbors in both leader's and follower's levels. To achieve node-to-node consensus, an algorithm is provided to determine what kinds of and how many followers should directly sense their corresponding leaders. Theoretical analysis indicates that the node-to-node consensus can be ensured if a fraction of followers suitably selected can sense their corresponding leaders and the inner linking matrix as well as the coupling strength are appropriately designed. Numerical simulations are finally given for illustration.
ABSTRACT Distributed consensus control for multi-agent systems with general linear node dynamics ... more ABSTRACT Distributed consensus control for multi-agent systems with general linear node dynamics and switching balanced directed topologies is addressed in this paper. By using tools from algebraic graph theory and switching systems theory, it is proved that distributed consensus in the closed-loop linear multiagent systems with switching balanced directed topologies can be achieved if, the feedback gain matrix of the protocol is appropriately designed and the coupling strength among neighboring agents is larger than a threshold value. The convergence rate for the achievement of consensus is further discussed. Interestingly, it is found that an arbitrarily given large convergence rate can be guaranteed if each agent is controllable. The proposed results are verified through numerical simulations.
3rd IFAC International Conference on Intelligent Control and Automation Science (2013), 2013
This paper considers the containment control problems for both continuous-time and discrete-time ... more This paper considers the containment control problems for both continuous-time and discrete-time multi-agent systems with general linear dynamics under directed communication topologies. Distributed reduced-order observer-based containment controllers relying on the relative outputs of neighboring agents are constructed for both continuous-time and discrete-time cases, under which the states of the followers will asymptotically converge to the convex hull formed by those of the leaders if for each follower there exists at least one leader that has a directed path to that follower. Sufficient conditions on the existence of these containment controllers are given.
2013 10th IEEE International Conference on Control and Automation (ICCA), 2013
ABSTRACT In this paper, the new concept of pinning observability for complex networks and systems... more ABSTRACT In this paper, the new concept of pinning observability for complex networks and systems is discussed. Note that in a very large-scale network, there are many nodes and it is impossible to measure the states of all the nodes so as to reach synchronization between the original network and a new constructed network. To reduce the number of observable nodes, some feedback controllers are applied on the chosen nodes, which is defined as pinning observability. First, a general criterion for synchronization via pinning observability is given based on which the parametric regions for pinning observability are discussed. Then, some decoupled conditions for pinning observability are derived. Furthermore, an application to genetic regulatory networks via pinning observability is discussed. Finally, a simulation example is given to verify the theoretical analysis in this paper.
Neural networks : the official journal of the International Neural Network Society, Jan 16, 2015
This paper is concerned with the sampled-data state estimation and H∞ filtering for a class of Ma... more This paper is concerned with the sampled-data state estimation and H∞ filtering for a class of Markovian jump systems with the discontinuous Lyapunov approach. The system measurements are sampled and then transmitted to the estimator and filter in order to estimate the state of the jumped system under consideration. The corresponding error dynamics is represented by a system with two types of delays: one is from the system itself, and the other from the sampling period. As the delay due to sampling is discontinuous, a corresponding discontinuous Lyapunov functional is constructed, and sufficient conditions are established so as to guarantee both the asymptotic mean-square stability and the H∞ performance for the filtering error systems. The explicit expressions of the desired estimator and filter are further provided. Finally, two simulation examples are given to illustrate the design procedures and performances of the proposed method.
ABSTRACT In this paper, a group consensus problem is investigated for multiple networked agents w... more ABSTRACT In this paper, a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain parameters. In the group consensus problem, the agents asymptotically reach several different states rather than one consistent state. A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus problem. It is shown that the group consensus is reachable even when the system contains the uncertain parameters. Furthermore, the multi-group consensus is discussed as an extension of the couple-group consensus, and then the group consensus with switching topology is considered. Simulation results are finally provided to validate the effectiveness of the theoretical analysis.
Proceedings of the 33rd Chinese Control Conference, 2014
ABSTRACT Distributed consensus tracking is addressed in this paper for multi-agent systems with L... more ABSTRACT Distributed consensus tracking is addressed in this paper for multi-agent systems with Lipschitz-type node dynamics. The main contribution of this work is solving the consensus tracking problem without the assumption that the topology among followers is strongly connected and fixed. By using tools from $M$-matrix theory, a class of consensus tracking protocols based only on the relative states among neighboring agents is designed. By appropriately constructing Lyapunov function, it is proved that consensus tracking in the closed-loop multi-agent systems with a fixed topology having a directed spanning tree can be achieved if the feedback gain matrix and the coupling strength are suitably selected. Furthermore, with the assumption that each possible topology contains a directed spanning tree, it is theoretically shown that consensus tracking under switching directed topologies can be achieved if the control parameters are suitably selected and the dwell time is larger than a positive threshold. The results are then extended to the case where the communication topology contains a directed spanning tree only frequently as the system evolves with time. Finally, some numerical simulations are given to verify the theoretical analysis.
2013 IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, 2013
ABSTRACT The concept of node-to-node consensus is introduced and discussed in this paper. Unlike ... more ABSTRACT The concept of node-to-node consensus is introduced and discussed in this paper. Unlike most of the existing literature which focuses on designing distributed protocols to guarantee the states of all agents to converge to the same, the coordination goal in the present framework is to employ some distributed control laws such that each follower can track its corresponding leader while the whole system may not achieve consensus. It is assumed that there are two levels in the considered multi-agent systems, that is, the leader's and the follower's levels. Furthermore, the dynamics of each leader may only be affected by those of its neighbors in the leader's level while the dynamics of each follower may be affected by those of its neighbors in both leader's and follower's levels. To achieve node-to-node consensus, an algorithm is provided to determine what kinds of and how many followers should directly sense their corresponding leaders. Theoretical analysis indicates that the node-to-node consensus can be ensured if a fraction of followers suitably selected can sense their corresponding leaders and the inner linking matrix as well as the coupling strength are appropriately designed. Numerical simulations are finally given for illustration.
ABSTRACT Distributed consensus control for multi-agent systems with general linear node dynamics ... more ABSTRACT Distributed consensus control for multi-agent systems with general linear node dynamics and switching balanced directed topologies is addressed in this paper. By using tools from algebraic graph theory and switching systems theory, it is proved that distributed consensus in the closed-loop linear multiagent systems with switching balanced directed topologies can be achieved if, the feedback gain matrix of the protocol is appropriately designed and the coupling strength among neighboring agents is larger than a threshold value. The convergence rate for the achievement of consensus is further discussed. Interestingly, it is found that an arbitrarily given large convergence rate can be guaranteed if each agent is controllable. The proposed results are verified through numerical simulations.
3rd IFAC International Conference on Intelligent Control and Automation Science (2013), 2013
This paper considers the containment control problems for both continuous-time and discrete-time ... more This paper considers the containment control problems for both continuous-time and discrete-time multi-agent systems with general linear dynamics under directed communication topologies. Distributed reduced-order observer-based containment controllers relying on the relative outputs of neighboring agents are constructed for both continuous-time and discrete-time cases, under which the states of the followers will asymptotically converge to the convex hull formed by those of the leaders if for each follower there exists at least one leader that has a directed path to that follower. Sufficient conditions on the existence of these containment controllers are given.
2013 10th IEEE International Conference on Control and Automation (ICCA), 2013
ABSTRACT In this paper, the new concept of pinning observability for complex networks and systems... more ABSTRACT In this paper, the new concept of pinning observability for complex networks and systems is discussed. Note that in a very large-scale network, there are many nodes and it is impossible to measure the states of all the nodes so as to reach synchronization between the original network and a new constructed network. To reduce the number of observable nodes, some feedback controllers are applied on the chosen nodes, which is defined as pinning observability. First, a general criterion for synchronization via pinning observability is given based on which the parametric regions for pinning observability are discussed. Then, some decoupled conditions for pinning observability are derived. Furthermore, an application to genetic regulatory networks via pinning observability is discussed. Finally, a simulation example is given to verify the theoretical analysis in this paper.
Neural networks : the official journal of the International Neural Network Society, Jan 16, 2015
This paper is concerned with the sampled-data state estimation and H∞ filtering for a class of Ma... more This paper is concerned with the sampled-data state estimation and H∞ filtering for a class of Markovian jump systems with the discontinuous Lyapunov approach. The system measurements are sampled and then transmitted to the estimator and filter in order to estimate the state of the jumped system under consideration. The corresponding error dynamics is represented by a system with two types of delays: one is from the system itself, and the other from the sampling period. As the delay due to sampling is discontinuous, a corresponding discontinuous Lyapunov functional is constructed, and sufficient conditions are established so as to guarantee both the asymptotic mean-square stability and the H∞ performance for the filtering error systems. The explicit expressions of the desired estimator and filter are further provided. Finally, two simulation examples are given to illustrate the design procedures and performances of the proposed method.
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Papers by Wenwu Yu