Ding-Xin He

Guaranteed performance consensus in second-order multi-agent systems with hybrid impulsive control

This paper studies the problem of guaranteed performance consensus in second-order multi-agent systems. Taking advantage of impulsive control, a hybrid cooperative control is presented, and an index function is introduced to assess the performance of agents. It is shown that by synthesizing the coupling weights and the average impulsive intermittence, multi-agent systems can achieve guaranteed performance consensus. A numerical example is given to illustrate the theoretical results.

Event-triggered control for networked control systems with quantization and packet losses

Abstract Problems of the quantized stabilization for event-triggered networked control systems (NCSs) with packet losses are addressed. To reduce the communication resources in NCSs, event-triggering scheme is adopted and designed. A NCS model is proposed which considers quantization, plant uncertainty, event-triggering scheme and packet losses simultaneously. Sufficient conditions for the stabilization and control design are derived using the Lyapunov functional approach and control synthesis of event-triggered networked control systems are established in terms of linear matrix inequalities. Moreover, the maximal allowable number of successive packet losses in NCS is estimated. A numerical example is given to illustrate the effectiveness of the proposed method.

Distributed controller-estimator for target tracking of networked robotic systems under sampled interaction

This paper investigates the target tracking problem for networked robotic systems (NRSs) under sampled interaction. The target is assumed to be time-varying and described by a second-order oscillator. Two novel distributed controller-estimator algorithms (DCEA), which consist of both continuous and discontinuous signals, are presented. Based on the properties of small-value norms and Lyapunov stability theory, the conditions on the interaction topology, the sampling period, and the other control parameters are given such that the practical stability of the tracking error is achieved and the stability region is regulated quantitatively. The advantages of the presented DCEA are illustrated by comparisons with each other and the existing coordination algorithms. Simulation examples are given to demonstrate the theoretical results.

Distributed containment control of fractional-order uncertain multi-agent systems ☆

Abstract This paper investigates the containment control problem of uncertain linear multi-agent systems, where the dynamics of each agent is described by a fractional-order differential equation. Based on the stability theory of fractional-order systems and matrix theory, some sufficient conditions are presented to ensure that the states of the followers can asymptotically converge to the convex hull formed by those of the leaders, and the feedback matrix of the proposed protocol is also determined according to linear matrix inequalities. Two simulation examples are provided to demonstrate the effectiveness of the theoretical results.

Quantized stabilization of wireless networked control systems with packet losses.

This paper considers stabilization of discrete-time linear systems, where wireless networks exist for transmitting the sensor and controller information. Based on Markov jump systems, we show that the coarsest quantizer that stabilizes the WNCS is logarithmic in the sense of mean square quadratic stability and the stabilization of this system can be transformed into the robust stabilization of an equivalent uncertain system. Moreover, a method of optimal quantizer/controller design in terms of linear matrix inequality is presented. Finally, a numerical example is provided to illustrate the effectiveness of the developed theoretical results.

Distributed tracking control of second-order multi-agent systems with sampled data

Abstract This paper studies the leader–follower consensus problem of second-order multi-agent dynamical systems with fixed and stochastic switching topologies in a sampled-data setting. A distributed linear consensus protocol is designed to track an active leader, where the current position information of neighbor agents and self-velocity data are utilized. A necessary and sufficient condition is established under fixed and directed topology for reaching consensus, which depends on the sampling period and control gain parameters. A sufficient condition is obtained under the Markov switching topology case. Finally, some numerical simulations are provided to verify the effectiveness of the theoretical results.

Multi-consensus of multi-agent systems with various intelligences using switched impulsive protocols

In this paper, multi-consensus refers to that the states of multi-agent systems asymptotically converge to several consistent values. The concept of intelligence degree is introduced to characterize the level of agent intelligence. Based on that, some distributed switched impulsive protocols are proposed using sampled position data and sampled velocity data alternately at sampling instants. The continuous-time multi-agent system using the proposed protocols is equivalently transformed into a discrete-time system. Some necessary and sufficient conditions on the communication network topology are obtained. Three types of multi-consensus can be asymptotically achieved if and only if the directed network has a spanning tree and the feedback gains and sampling periods are chosen appropriately. Moreover, the final states of multi-consensus are analytically determined for second-order multi-agent systems, which depend on the initial states of the agents, the communication network topology, and the feedback gains in the protocols. Numerical examples are finally presented to show the effectiveness of the proposed protocols and to verify the theoretical results.

Stability and bifurcation analysis of new coupled repressilators in genetic regulatory networks with delays

The genetic regulatory networks are complex dynamic systems which reflect various kinetic behaviors of living things. In this paper, a new structure of coupled repressilators is introduced to exploit the underlying functions. The new coupled repressilator model consists of two identical repressilators inhibiting each other directly. The coupling delays are taken into account. The existence of a unique equilibrium for this system is verified firstly, then the stability criteria for equilibrium are analyzed without and with coupling delays. The different functions on equilibrium and its stability played by related biochemical parameters in the structure including maximal transcription rate, coupling strength, the decay rate ratio between proteins and mRNAs, and coupling delays are discussed. At last, several numerical simulations are made to demonstrate our results.

Fractional-order consensus of multi-agent systems with event-triggered Control

In this paper, the event-driven control strategies have been proposed to study the consensus of fractional-order multi-agent systems. A general consensus control algorithm is introduced to analyze the fractional-order agent dynamics. Base on limited resources of embedded microprocessors and wireless sensors, event-triggered control mechanism have been exploited in a centralized approach, where all agents implement the same control update by the global measurement error. While in distributed counterpart, each agent executes control update depending on the information of itself and its neighboring agents. Sufficient conditions for consensus have been achieved on interaction graph and event-triggered real time constraint parameter. Finally, simulation examples are presented to illustrate the results.

A new ROS-based hybrid architecture for heterogeneous multi-robot systems

In this paper, a new hybrid architecture for heterogeneous multi-robot systems is presented. Personal computers as central server and embedded systems as nodes are integrated in this architecture based on robot operating system. The complex computation and visualization are processed on server, while real-time tasks are completed in robot nodes with embedded systems. Compared with the existing schemes, this hybrid architecture can keep a good balance between flexibility, expansibility, power consumption and real-time capability, without causing degradation in performance. According to the architecture, a low-cost and high-performance robot node named hybrid real-time mobile robot platform is implemented on system-on-chip. The experimental result of multi-robot following verifies the feasibility and usability of the proposed scheme.