Distributed tracking control of leader-follower multi-agent systems under noisy measurement

In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower can only measure relative positions of its neighbors in a noisy environment, including the relative position of the second-order active leader. A neighbor-based tracking protocol together with distributed estimators is designed based on a novel velocity decomposition technique. It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. A simulation example is finally given to illustrate the performance of the proposed control scheme.Comment: 8 Pages, 3 figure

A Switch Architecture for Real-Time Multimedia Communications

In this paper we present a switch that can be used to transfer multimedia type of trafJic. The switch provides a guaranteed throughput and a bounded latency. We focus on the design of a prototype Switching Element using the new technology opportunities being offered today. The architecture meets the multimedia requirements but still has a low complexity and needs a minimum amount of hardware. A main item of this paper will be the background of the architectural design decisions made. These include the interconnection topology, buffer organization, routing and scheduling. The implementation of the switching fabric with FPGAs, allows us to experiment with switching mode, routing strategy and scheduling policy in a multimedia environment. The witching elements are interconnected in a Kautz topology. Kautz graphs have interesting properties such as: a small diametec the degree is independent of the network size, the network is fault-tolerant and has a simple routing algorithm