9,889 research outputs found
Distributed Consensus of Linear Multi-Agent Systems with Switching Directed Topologies
This paper addresses the distributed consensus problem for a linear
multi-agent system with switching directed communication topologies. By
appropriately introducing a linear transformation, the consensus problem is
equivalently converted to a stabilization problem for a class of switched
linear systems. Some sufficient consensus conditions are then derived by using
tools from the matrix theory and stability analysis of switched systems. It is
proved that consensus in such a multi-agent system can be ensured if each agent
is stabilizable and each possible directed topology contains a directed
spanning tree. Finally, a numerical simulation is given for illustration.Comment: The paper will be presented at the 2014 Australian Control Conference
(AUCC 2014), Canberra, Australi
Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs
An event-triggered control technique for consensus of multi-agent systems
with general linear dynamics is presented. This paper extends previous work to
consider agents that are connected using directed graphs. Additionally, the
approach shown here provides asymptotic consensus with guaranteed positive
inter-event time intervals. This event-triggered control method is also used in
the case where communication delays are present. For the communication delay
case we also show that the agents achieve consensus asymptotically and that,
for every agent, the time intervals between consecutive transmissions is
lower-bounded by a positive constant.Comment: 9 pages, 5 figures, A preliminary version of this manuscript has been
submitted to the 2015 American Control Conferenc
Time-and event-driven communication process for networked control systems: A survey
Copyright © 2014 Lei Zou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.In recent years, theoretical and practical research topics on networked control systems (NCSs) have gained an increasing interest from many researchers in a variety of disciplines owing to the extensive applications of NCSs in practice. In particular, an urgent need has arisen to understand the effects of communication processes on system performances. Sampling and protocol are two fundamental aspects of a communication process which have attracted a great deal of research attention. Most research focus has been on the analysis and control of dynamical behaviors under certain sampling procedures and communication protocols. In this paper, we aim to survey some recent advances on the analysis and synthesis issues of NCSs with different sampling procedures (time-and event-driven sampling) and protocols (static and dynamic protocols). First, these sampling procedures and protocols are introduced in detail according to their engineering backgrounds as well as dynamic natures. Then, the developments of the stabilization, control, and filtering problems are systematically reviewed and discussed in great detail. Finally, we conclude the paper by outlining future research challenges for analysis and synthesis problems of NCSs with different communication processes.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany
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