ROBUST CONSENSUS FOR MULTI-AGENT SYSTEMS OVER UNBALANCED DIRECTED NETWORKS

In this paper, a distributed consensus protocol is proposed for discrete-time single-integer multi-agent systems with measurement noises under general fixed directed topologies, The time-varying control gains satisfying the stochastic approximation conditions are introduced to attenuate noises, thus the closed-loop multi-agent system is intrinsically a linear time-varying stochastic difference system. Then the mean square consensus convergence analysis is developed based on the Lyapunov technique, and the construction of the Lyapunov function especially does not require the typical balanced network topology condition assumed for the existence of quadratic Lyapunov function. Thus, the proposed consensus protocol can be applicable to more general networked multi-agent systems, particularly when the bidirectional and/or balanced information exchanges between agents are not required. Under the proposed protocol, it is proved that the state of each agent converges in mean square to a common random variable whose mathematical expectation is the weighted average of agents＇ initial state values; meanwhile, the random variable＇s variance is bounded.     

Consensus design for continuous-time multi-agent systems with communication delay

This paper investigates a consensus design problem for continuous-time first-order multiagent systems with uniform constant communication delay.Provided that the agent dynamic is unstable and the diagraph is undirected,sufficient conditions are derived to guarantee consensus.The key technique is the adoption of historical input information in the protocol.Especially,when agent＇s own historical input information is used in the protocol design,the consensus condition is constructed in terms of agent dynamic,communication delay,and the eigenratio of the network topology.Simulation result is presented to validate the effectiveness of the theoretical result.     

二阶多智能体系统的一致性分析

研究了二阶连续多智能体系统的一致性问题,其中每个智能体能够实时获得自己的速度信息,但是只能在一些离散时刻上获得自己和邻居的相对位置信息。在给定的控制输入下,建立了一致性成立的充要条件,并将该理论结果应用到多机器人编队控制问题中。提供的数值仿真进一步验证了理论结果的有效性。     

Fast consensus seeking for multi-agent systems

For multi-agent systems based on the local information,the agents automatically converge to a common consensus state and the convergence speed is determined by the algebraic connectivity of the communication network.To study fast consensus seeking problems of multi-agent systems in undirected networks,a consensus protocol is proposed which considers the average information of the agents’ states in a certain time interval,and a consensus convergence criterion for the system is obtained.Based on the frequency-domain analysis and algebra graph theory,it is shown that if the time interval is chosen properly,then requiring the same maximum control effort the proposed protocol reaches consensus faster than the standard consensus protocol.Simulations are provided to demonstrate the effectiveness of these theoretical results.     

Group consensus for multiple networked Euler-Lagrange systems with parametric uncertainties

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.     

单边Lipschitz非线性多智能体系统一致性追踪控制

针对单边Lipschitz非线性多智能体系统,提出了一种分布式一致性控制方法.首先,构建了领导-跟随者动力学结构,用于实现单边Lipschitz多智能体系统的追踪控制.然后,设计了单边Lipschitz非线性多智能体系统的一致性控制协议,可根据智能体之间局部交互信息构建分布式反馈控制,并将系统的一致性追踪问题转化为系统...     

具有不同输入时延的二阶多智能体系统一致性

研究了具有不同时变输入时延的二阶连续多智能体系统的一致性问题。首先,通过变量转换,将系统的收敛性问题转化为误差系统的稳定问题;然后,通过对系统进行变换,将二阶系统稳定性问题转换为等价系统的稳定性问题。通过构造李雅普诺夫函数,基于线性矩阵不等式(LMI)的方法,给出在无向固定拓扑条件下,系统达到一致的充分条件。最后,仿真实例证明了结果的有效性。     

Leader-following consensus protocols for formation control of multi-agent network

Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.     

复杂网络特性与多智能体的一致性

对复杂网络特性与多智能体系统的一致性的关系进行研究,以BBV和BA网络模型为例,分别研究了度正相关性和度负相关性的网络模型中多智能体系统一致性的收敛速度.应用计算机仿真实例,分析了无尺度网络模型的平均距离和平均集群系数与多智能体系统一致性的影响,得到了复杂网络结构与多智能体系统一致收敛速度的关系.该研究对于构建一个多智...     

A Construction Way of MAS Based on Organization Theory

1　 IntroductionBeing a promising means to cope with distributed and complex problems,Multi-agentsystems( MAS) are recognized by more and more researchers nowadays.For example,Holland and his fellows who come from Santa Fe Institute have established the theory ofcomplex adaptive system ( CAS) based on MASto solve general complex problems[1 ] .Andin the field of information,with the spreading of information applications ( such asdistributed,real-time,dynamic and interaction-oriented envir…     

FORMATION OF SOCIAL NORMS IN COMMUNICATING AGENTS WITH COGNITIVE FRAMEWORKS

1 IntroductionWe study how individuals' actions form social norms and the actions are edicted by thenorms in a social system. Action is a set of oriented processes[1], namelyl individualsl acttoward some objects, whether intelltionally or unintentionally. Orientations to objects fromindividuals are conceived as structured or patterned in a social system. Namelyl there are someconsistencies or regularities between the orientations and actions of dtherelit indi.id.al,[21. 'Thestructure forms th…     

CLASSICAL TIME DEPENDENT SOLUTION FORNEUTRON TRANSPORT IN A SLAB WITHGENERALIZED BOUNDARY CONDITIONS

1.IntroductionSincethepioneeringworkofLehner,WingandJorgens['3],thetimedependentneutrontransportproblemhasbeentreatedbymanyinvestigators,andtheliteratureonthissubjectisconsiderable.Variousmethods,theCO-semigroupmethodin[2,3],theNeumannseriesexpansionmetho…     

协整系统的贝叶斯推断

讨论协整系统的检验问题．提出一种基于协整系统误差校正模型的贝叶斯协整检测方法，并通过模拟实验说明贝叶斯方法的有效性．     

基于Swarm的供应链多主体聚集模型及其仿真

供应链是一类典型的复杂适应系统,本文采用一种高级Petri网方法建立基于多主体的供应链模型,着重论述通过子主体代换建立多主体聚集模型的方法与步骤,并给出多主体聚集模型实例。最后,建立了供应链配送渠道系统简化模型,设计了相应的仿真参数,通过Swarm仿真平台模拟了供应链配送渠道系统的动态组合行为,并对仿真结果进行了分析。     

NECESSARY AND SUFFICIENT CONDITIONS FOR G-STRUCTURES WITH LOGICAL RELATIONS TO FORM BOUNDED LATTICES IN RECONSTRUCTABILITY ANALYSIS

After a brief review of the basic notions the paper defines the G~L-structuresand their partial ordering. On this basis, the paper proves the necessary and sufficientconditions for G~L-structures to form bounded lattices.     

ASSESSMENT OF LOCAL INFLUENCE FOR F-TEST IN LINEAR REGRESSION MODEL

1.IntroductionTheaimofthediagnosticsandinfluenceanalysisistoidentifytheoutliersorinfluelltialobservationsthatsubstantiallyaffecttheparameterestimatesandstatisticalinference.Therelatedworkthathasreceivedconsiderableattentioninlinearregressionmodelistheinfluenceontheregressioncoefficients(see[l--4]).Theinfluencefortheotheraspectsoflinearregressionmodelsuchasconfidenceregionshasalsobeenconsideredby[5].However,theinfluenceonFiestreceivedlessattentionasweknowtheF-testisverysensitivetotheinfluentia…     

维修条件下电器设备备件需求模型

应用随机服务系统理论及矩阵和微分方程理论，建立寿命具有负指数分布的元件在维修条件下的备件需求模型，并给出了模型的软件实现。     

THE CRITERIA OF ULTIMATE BOUNDEDNESS FOR NONAUTONOMOUS DIFFUSIVE LOTKA-VOLTERRA SYSTEMS IN TWO HETEROGENEOUS PATCHES

1 Introduction and PreliminariesSince the interrelations between the orgachms and the environment seem to be essentialto the system's stabilityll], the effect of diction on the possibility of species coechtence in anecological community has been an haportat subjeCt in population biology. EXcept for someexamples known as ~ive instability or diffusion-induced instability especially in aquaticsystems (see [2]), a diffusion process generally tends to promote stability in ecological systems.Numero…