CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus; Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus
Liu, Huiyang; Cheng, Long; Tan, Min; Hou, Zengguang; Wang, Yunpeng
Source PublicationINTERNATIONAL JOURNAL OF CONTROL ; INTERNATIONAL JOURNAL OF CONTROL
2015 ; 2015
Volume88Issue:2Pages:237-247
AbstractIn this paper, exponential finite-time coordination problems of multi-agent systems are investigated, including containment control and consensus. The theoretical basis is that a class of nonlinear systems has favourable finite-time convergence characteristic. For the objective of containment control, the proposed protocol ensures that the boundary agents in the same strong component exponentially reach a consensus and the internal agents exponentially converge to the convex hull spanned by the boundary agents in a finite time. For the objective of consensus, a pinning control strategy is designed for a fraction of agents such that all the agents exponentially reach a consensus with the leader in a finite time. The distinguished features of this paper lie in the following two points: (1) a smaller settling time of the Lyapunov function is obtained, which manifests in a faster convergence rate than the traditional one and (2) the weakly connected topology considered in this paper is more general than the ones (a spanning tree, a spanning forest, and so on) in other coordination problems. All the results are illustrated by some simulations.; In this paper, exponential finite-time coordination problems of multi-agent systems are investigated, including containment control and consensus. The theoretical basis is that a class of nonlinear systems has favourable finite-time convergence characteristic. For the objective of containment control, the proposed protocol ensures that the boundary agents in the same strong component exponentially reach a consensus and the internal agents exponentially converge to the convex hull spanned by the boundary agents in a finite time. For the objective of consensus, a pinning control strategy is designed for a fraction of agents such that all the agents exponentially reach a consensus with the leader in a finite time. The distinguished features of this paper lie in the following two points: (1) a smaller settling time of the Lyapunov function is obtained, which manifests in a faster convergence rate than the traditional one and (2) the weakly connected topology considered in this paper is more general than the ones (a spanning tree, a spanning forest, and so on) in other coordination problems. All the results are illustrated by some simulations.
KeywordPinning Control Multi-agent Systems Pinning Control Multi-agent Systems Exponential Finite-time Exponential Finite-time Pinning Control Containment Control Pinning Control Containment Control Consensus Consensus
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19965
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
GB/T 7714
Liu, Huiyang,Cheng, Long,Tan, Min,et al. Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus, Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus[J]. INTERNATIONAL JOURNAL OF CONTROL, INTERNATIONAL JOURNAL OF CONTROL,2015, 2015,88, 88(2):237-247, 237-247.
APA Liu, Huiyang,Cheng, Long,Tan, Min,Hou, Zengguang,&Wang, Yunpeng.(2015).Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus.INTERNATIONAL JOURNAL OF CONTROL,88(2),237-247.
MLA Liu, Huiyang,et al."Distributed exponential finite-time coordination of multi-agent systems: containment control and consensus".INTERNATIONAL JOURNAL OF CONTROL 88.2(2015):237-247.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Liu, Huiyang]'s Articles
[Cheng, Long]'s Articles
[Tan, Min]'s Articles
Baidu academic
Similar articles in Baidu academic
[Liu, Huiyang]'s Articles
[Cheng, Long]'s Articles
[Tan, Min]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Liu, Huiyang]'s Articles
[Cheng, Long]'s Articles
[Tan, Min]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.