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40th Chinese control Conference (CCC)

作者： Feng, Xiaoshuang Qu, Yi Fan, Yuan Song, Cheng Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China Anhui Univ Sch Elect Engn & Automat Hefei 230601 Peoples R China

ISBN: (纸本)9789881563804

The circle formation control problem for mobile sensor networks with bounded position measurement errors is addressed in this paper, where the sensors are required to form a prescribed formation on a given circle. Only the upper bounds of the measurement errors are assumed to be known by the sensors a priori. An estimation algorithm is firstly proposed to estimate the position difference between the sensors and its neighbors. Then, a distributed circle formation control law is developed for each sensor by using the estimated position difference. It is shown that the effect of the measurement errors on the formation task can be reduced under the proposed formation control laws. Finally, a numerical example is provided to illustrate the effectiveness of the proposed control laws.

关键词： circle formation control mobile sensor networks bounded measurement errors

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circle formation control of second-order multi-agent systems with bounded measurement errors

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NEUROCOMPUTING 2020年 397卷 160-167页

作者： Wang, Yuanyuan Shen, Tao Song, Cheng Zhang, Yijun Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China

In this paper, the circle formation control problem of second-order multi-agent systems which are constrained to move on a circle is considered. Each agent can only measure the positions and velocities of its neighbors with bounded measurement errors. Using these inaccurate measurements, a distributed formation control laws is developed for each mobile agent. It is shown that under the proposed control law the multi-agent system can be driven to a neighborhood of the desired circle formation. The upper bound on the agents' formation errors in the final configuration is also provided. Note that collision between mobile agents can be prevented if the agents' spatial order on the circle is always preserved. The conditions under which order preservation of the agents is guaranteed during the formation task are also given. Finally, a simulation example is provided to illustrate the effectiveness of the proposed formation control law. (C) 2020 Elsevier B.V. All rights reserved.

关键词： circle formation control Multi-agent systems Distributed control Bounded measurement errors

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circle formation control for mobile sensor networks with bounded position measurement errors

Circle formation control for mobile sensor networks with bou...

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第40届中国控制会议

作者： Xiaoshuang Feng Yi Qu Yuan Fan Cheng Song School of Automation Nanjing University of Science and Technology School of Electrical Engineering and Automation Anhui University

关键词： circle formation control mobile sensor networks bounded measurement errors

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Decentralized event-triggered circle formation control for multiagent systems via synchronous periodic event detection

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2020年第3期30卷 910-925页

作者： Wen, Jiayan Wang, Chen Xu, Peng Xie, Guangming Peking Univ Coll Engn Intelligent Biomimet Design Lab State Key Lab Turbulence & Complex Syst Beijing Peoples R China Guangxi Univ Sci & Technol Coll Elect & Informat Engn Liuzhou Peoples R China Peking Univ Inst Ocean Res Beijing Peoples R China

This paper investigates circle formation problem of multiagent systems over a kind of strongly connected and weight-unbalanced directed graphs. To solve the concerned problem, decentralized periodic event-triggered algorithms subject to or not to time delays are proposed, which have the advantages of decreasing the overall burden of the network in terms of finite communication and control input updates. In such algorithms, each agent independently evaluates whether the locally sampled information of itself should be broadcasted to or not to its neighbors. Furthermore, another advantage of our proposed algorithms is to automatically exclude Zeno behavior, which should be seriously considered in a variety of event-based network systems. Sufficient conditions on circle formation control are derived under which the states of all agents can be ensured to converge to some desired equilibrium point. Simulation results are given to validate the effectiveness of the proposed methods.

关键词： circle formation control event-triggered control multiagent systems periodic evaluation

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Distributed event-triggered circle formation control for multi-agent systems with limited communication bandwidth

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NEUROCOMPUTING 2019年 358卷 211-221页

作者： Wen, Jiayan Xu, Peng Wang, Chen Xie, Guangming Gao, Yuan Peking Univ Coll Engn Ctr Syst & Control State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Peking Univ Natl Engn Res Ctr Software Engn Beijing 100871 Peoples R China Guangxi Univ Sci & Technol Coll Elect & Informat Engn Liuzhou 545006 Peoples R China Peking Univ Ocean Res Inst Beijing 100871 Peoples R China

This paper investigates event-triggered circle formation problem of multi-agent systems (MASs) with limited communication bandwidth over such network setup among agents, in which each agent can only perceive the angular distance from itself to the nearest neighbor in counterclockwise direction as well as the counterpart in the clockwise direction be acquired through communication. To solve the concerned problem, a distributed algorithm relied on the combination between the quantized communication technology and event-triggered control (ETC) has been proposed. We show that, under the proposed law, all the designed quantizers do not appear saturated, and that the resulting network executions can ensure the states of all agents to converge to some desired equilibrium point. Numerical simulation results are provided to validate the effectiveness of the proposed algorithm. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Event-triggered circle formation control Multi-agent systems Encoder-decoder based Quantizer

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Distributed circle formation control over directed networks with communication constraints 15th

Distributed circle formation control over directed networks ...

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15th International-Federation-of-Automatic-control (IFAC) Symposium on Large Scale Complex Systems (IFAC LSS)

作者： Xu, Peng Wen, Jiayan Wang, Chen Xie, Guangming Guangxi Univ Sci & Technol Coll Elect & Informat Engn Liuzhou 545006 Peoples R China Peking Univ Natl Engn Res Ctr Software Engn Beijing 100871 Peoples R China Peking Univ Coll Engn Intelligent Biomimet Design Lab State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China

This paper investigates distributed circle formation problems of multi-agent systems (MAS) subject to limited information communication under a class of weight-unbalanced directed graphs, in which the communication topology contains a directed spanning tree and each agent can only perceive the distances from itself to the nearest neighbor in counterclockwise direction as well as the counterpart in the clockwise direction. Towards this end, a novel algorithm combined with an encoder-decoder framework has been proposed. We show that, under the proposed policy, the resulting network executions can drive the states of all mobile agents to converge to some expected equilibrium point. Numerical simulation results have been given to demonstrate the effectiveness of the proposed algorithm. (C) 2019, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi-agent Systems Communication Bandwidth Directed Network circle formation control

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Distributed circle formation control over directed networks with communication constraints ⁎

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IFAC-PapersOnLine 2019年第3期52卷 108-113页

作者： Peng Xu Jiayan Wen Chen Wang Guangming Xie College of Electrical and Information Engineering Guangxi University of Science and Technology Liuzhou 545006 China National Engineering Research Center for Software Engineering Peking University Beijing 100871 China The State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing100871 China

关键词： Multi-agent Systems Communication Bandwidth Directed Network circle formation control

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Asynchronous distributed event-triggered circle formation of multi-agent systems

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NEUROCOMPUTING 2018年 295卷 118-126页

作者： Wen, Jiayan Wang, Chen Xie, Guangming Peking Univ Coll Engn Ctr Syst & Control State Key Lab Turbulence & Complex Syst Beijing 100871 Peoples R China Peking Univ Inst Ocean Res Beijing 100871 Peoples R China Guangxi Univ Sci & Technol Coll Elect & Informat Engn Liuzhou 545006 Peoples R China

This paper proposes distributed event-triggered algorithmic solutions to circle formation problems of first-order multi-agent systems, where the communication topology of networks is described by weight-unbalanced, strongly connected digraph. In particular, the controller updates and communications between neighboring agents considered here are event-triggered, depending on the specified threshold of a certain measurement error by contrast with the norm of a function with state-dependent. Sufficient conditions on both uniform and arbitrary circle formation are derived under which the resulting asynchronous network executions converge to some equilibrium point. Furthermore, we show that the Zeno behavior can be avoided under the proposed control laws. Numerical simulation results are given to illustrate the effectiveness of the proposed methods. (C) 2018 Elsevier B.V. All rights reserved.

关键词： Event-triggered Asynchronous circle formation control Multi-agent systems

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