Inspired by the wolf-raven cooperative hunting in nature, this paper studies a problem of ground-aerial vehicle cooperation for tracking a moving ground object. In the considered problem, a group of ground vehicles is...
详细信息
ISBN:
(纸本)9781665475877
Inspired by the wolf-raven cooperative hunting in nature, this paper studies a problem of ground-aerial vehicle cooperation for tracking a moving ground object. In the considered problem, a group of ground vehicles is guided by an aerial vehicle to finally trace and catch the moving ground object. To achieve that, a distributed pi controller design is proposed and proved to be effective against a certain class of disturbances in the inter-vehicle and vehicle-object sensing. Simulations are carried out to demonstrate the effectiveness of the proposed control design.
Virtual Coupling has been included among the most relevant innovations to be studied in the European Horizon 2020 Shift2Rail Joint Undertaking for increasing the railway lines capacity through the dynamic connection o...
详细信息
ISBN:
(纸本)9798350315431
Virtual Coupling has been included among the most relevant innovations to be studied in the European Horizon 2020 Shift2Rail Joint Undertaking for increasing the railway lines capacity through the dynamic connection of two or more trains to form a convoy while preserving safety. Within this framework, this paper addresses the virtual coupling control problem for heterogeneous nonlinear uncertain connected high-speed trains. Leveraging the Multi-Agent Systems framework, a novel distributed robust and adaptive pi-like control scheme is proposed to solve the control problem. In order to provide suitable adaptive mechanisms for the control gains, we exploit the Lyapunov theory and Barbalat's lemma and prove the asymptotic stability for the overall networked control system, as well as the boundedness of these signals. The virtual coupling objective is achieved in a fully-distributed fashion by limiting the amount of time-varying information necessary for the computation of the control action and, hence, saving communication channel bandwidth while reducing the computational burden. Exemplary numerical simulations are given to support the theoretical derivations and to prove the effectiveness of the proposed control strategy in a real driving scenario.
This paper considers the consensus problem of multi-agent systems with time delay under directed topology. A novel proportional-integral (pi) control protocol with a time delay is proposed for each agent to ensure the...
详细信息
ISBN:
(纸本)9789881563972
This paper considers the consensus problem of multi-agent systems with time delay under directed topology. A novel proportional-integral (pi) control protocol with a time delay is proposed for each agent to ensure the consensus. The problem of consensus is converted to a stability problem by system transformation. Sufficient conditions are obtained based on the proposed Lyapunov functional candidate using Lyapunov stability theory, graph theory and matrix theory. The proposed condition has less conservatism by adding a triple-integral term. Finally, numerical simulations are provided to illustrate the effectiveness of the results.
Synchronization of directed complex networks has been extensively studied in the previous two decades due to its potential applications in the real world practices. To reveal and analyze the inherent mechanism of glob...
详细信息
ISBN:
(纸本)9789881563958
Synchronization of directed complex networks has been extensively studied in the previous two decades due to its potential applications in the real world practices. To reveal and analyze the inherent mechanism of global synchronization in the complex networks with directed topologies, this paper attempts to developing a novel synchronization approach by using algebraic connectivity and picontrol protocols. First, we studied the distributed pi control for synchronization in directed strongly connected networks and obtained some sufficient conditions to guarantee the networks reach global synchronization. Then, a numerical example is given to verify the effectiveness of the proposed theoretical results.
Synchronization of directed complex networks has been extensively studied in the previous two decades due to its potential applications in the real world practices. To reveal and analyze the inherent mechanism of glob...
详细信息
Synchronization of directed complex networks has been extensively studied in the previous two decades due to its potential applications in the real world practices. To reveal and analyze the inherent mechanism of global synchronization in the complex networks with directed topologies, this paper attempts to developing a novel synchronization approach by using algebraic connectivity and picontrol protocols. First, we studied the distributed pi control for synchronization in directed strongly connected networks and obtained some sufficient conditions to guarantee the networks reach global ***, a numerical example is given to verify the effectiveness of the proposed theoretical results.
The paper studies the consensus problem of heterogeneous multi-agent systems with time-delay, both a constant and time-varying delay are considered. For the heterogeneous multi-agent systems composed of the first-orde...
详细信息
ISBN:
(数字)9781728190938
ISBN:
(纸本)9781728190938
The paper studies the consensus problem of heterogeneous multi-agent systems with time-delay, both a constant and time-varying delay are considered. For the heterogeneous multi-agent systems composed of the first-order agents and second-order agents, a novel pi-like protocol is designed to guarantee all the agents can reach consensus asymptotically by using Lyapunov stability theory, graph theory and matrix theory. The communication topology is assumed to have a directed spanning tree. An example with simulation is presented to illustrate the effectiveness of the proposed results.
暂无评论