| 1. |
- Wei, Jieqiang, et al.
(författare)
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Nonlinear consensus protocols with applications to quantized systems
- 2017
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Ingår i: IFAC PAPERSONLINE. - : ELSEVIER SCIENCE BV. - 2405-8963. ; , s. 15440-15445
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Konferensbidrag (refereegranskat)abstract
- This paper studies multi-agent systems with nonlinear consensus protocols, i.e., only nonlinear measurements of the states are available to agents. The solutions of these systems are understood in Filippov sense since the possible discontinuity of the nonlinear controllers. Under the condition that the nonlinear functions are monotonic increasing without any continuous constraints, asymptotic stability is derived for systems defines on both directed and undirected graphs. The results can be applied to quantized consensus which extend some existing results from undirected graphs to directed ones.
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| 2. |
- Yi, Xinlei, et al.
(författare)
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Distributed Dynamic Event-Triggered Control for Multi-Agent Systems
- 2017
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Ingår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. - : IEEE. - 9781509028733 ; , s. 6683-6688
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Konferensbidrag (refereegranskat)abstract
- We propose two distributed dynamic triggering laws to solve the consensus problem for multi-agent systems with event-triggered control. Compared with existing triggering laws, the proposed triggering laws involve internal dynamic variables which play an essential role to guarantee that the triggering time sequence does not exhibit Zeno behavior. Some existing triggering laws are special cases of our dynamic triggering laws. Under the condition that the underlying graph is undirected and connected, it is proven that the proposed dynamic triggering laws together with the event-triggered control make the state of each agent converges exponentially to the average of the agents’ initial states. Numerical simulations illustrate the effectiveness of the theoretical results and show that the dynamic triggering laws lead to reduction of actuation updates and inter-agent communications.
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| 3. |
- Yi, Xinlei, et al.
(författare)
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Event-Triggered Control for Multi-Agent Systems with Output Saturation
- 2017
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Ingår i: 2017 36th Chinese Control Conference (CCC). - : IEEE Computer Society. - 9789881563934 ; , s. 8431-8436
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Konferensbidrag (refereegranskat)abstract
- We propose distributed static and dynamic event-triggered control laws to solve the consensus problem for multiagent systems with output saturation. Under the condition that the underlying graph is undirected and connected, we show that consensus is achieved under both event-triggered control laws if and only if the average of the initial states is within the saturation level. Numerical simulations are provided to illustrate the effectiveness of the theoretical results and to show that the control laws lead to reduced need for inter-agent communications.
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| 4. |
- Yi, Xinlei, et al.
(författare)
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Formation Control for Multi-Agent Systems with Connectivity Preservation and Event-Triggered Controllers
- 2017
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Ingår i: IFAC-PapersOnLine. - : IFAC Papers Online. - 2405-8963. ; 50:1, s. 9367-9373
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors' triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation, and Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results.
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| 5. |
- Yi, Xinlei
(författare)
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Resource-Constrained Multi-Agent Control Systems: Dynamic Event-triggering, Input Saturation, and Connectivity Preservation
- 2017
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- 978-91-7729-579-2A multi-agent system consists of multiple agents cooperating to achieve a common objective through local interactions. An important problem is how to reduce the amount of information exchanged, since agents in practice only have limited energy and communication resources. In this thesis, we propose dynamic event-triggered control strategies to solve consensus and formation problems for multi-agent systems under such resource constraints.In the first part, we propose dynamic event-triggered control strategies to solve the average consensus problem for first-order continuous-time multi-agent systems. It is proven that the state of each agent converges exponentially to the average of all agents' initial states under the proposed triggering laws if and only if the underlying undirected graph is connected.In the second part, we study the consensus problem with input saturation over directed graphs. It is shown that the underlying directed graph having a directed spanning tree is a necessary and sufficient condition for achieving consensus. Moreover, in order to reduce the overall need of communication and system updates, we propose an event-triggered control strategy to solve this problem. It is shown that consensus is achieved, again, if and only if the underlying directed graph has a directed spanning tree.In the third part, dynamic event-triggered formation control with connectivity preservation is investigated. Single and double integrator dynamics are considered. All agents are shown to converge to the formation exponentially with connectivity preservation.The effectiveness of the theoretical results in the thesis is verified by several numerical examples.
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