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| 1 | EVENT-TRIGGERED AVERAGE-CONSENSUS OF MULTI-AGENT SYSTEMS WITH WEIGHTED AND DIRECT TOPOLOGY显示文摘这份报纸与直接、加权的拓扑学调查多代理人系统的平均一致的问题。被触发事件的控制法律被采用以便减少自从代理人可以是在许多真实系统的资源有限,更新的单个控制的频率。事件被触发的分离时间片刻被扳机功能关于某个测量错误决定。一个集中的平均一致的协议与固定相互作用拓扑学,稳定性和哪个也被分析的影响因素为网络首先被建议。为有可变拓扑学的网络的扳机函数的设计也被讨论。然后,结果被扩大到分散的对应物,代理人在要求仅仅他们的邻居的信息。数字例子也是如果表明理论结果的有效性。 | Zhongxin LIU Zengqiang CHEN Zhuzhi YUAN | 2012 | Journal of Systems Science & Complexity2012，25，5： | 15 |
| 2 | 多智能体系统的协调控制研究综述显示文摘近年来,多智能体系统的协调控制在多机器人合作控制、交通车辆控制、无人飞机编队和网络的资源分配等领域有着广泛的应用,成为当前控制学科的一个热点问题.首先介绍了多智能体系统的研究背景、智能体的概念和相关的图论知识;然后从多智能体系统协调控制包含的几个问题入手,即群集问题、编队控制问题、一致性问题和网络优化问题等,对其国内外的发展现状进行了总结和分析;最后,给出了多智能体系统有待解决的一些问题,以促进对多智能体系统协调控制理论与应用的进一步研究. | 苗国英 马倩 | 2013 | 南京信息工程大学学报(自然科学版)2013，5，5： | 15 |
| 3 | Formation control with obstacle avoidance of second-order multi-agent systems under directed communication topology显示文摘This paper addresses the obstacle avoidance problem of formation control for the multi-agent systems modeled by double integrator dynamics under a directed interconnection topology. The control task is finished by a leader-follower formation scheme combined with an artificial potential field(APF) method.The leader-follower scheme is carried out by taking the desired trajectory with the desired velocity as virtual leader, while the APF method is carried out by dealing with the obstacles as the high potential points. When the obstacle avoidance tasks are finished, the artificial potential forces degrade the formation performance, so their undesired effects are treated as disturbances, which is analyzed by the robust H∞performance. Based on Lyapunov stability theory, it is proved that the proposed formation approach can realize the control objective. The result is also extended to the switching multi-agent formation. The effectiveness of the proposed formation scheme is further confirmed by simulation studies. | Guoxing WEN CLPhilip CHEN Hui DOU Hongli YANG Chunfang LIU | 2019 | Science China(Information Sciences)2019，62，9： | 7 |
| 4 | Prediction-based event-triggered identification of quantized input FIR systems with quantized output observations显示文摘This paper addresses the identification of finite impulse response(FIR) systems with both quantized and event-triggered observations. An event-triggered communication scheme for the binary-valued output quantization is introduced to save communication resources. Combining the empirical-measure-based identification technique and the weighted least-squares optimization, an algorithm is proposed to estimate the unknown parameter by full use of the received data and the not-triggered condition. Under quantized inputs, it is shown that the estimate can strongly converge to the real values and the estimator is asymptotically efficient in terms of the Cram′er-Rao lower bound. Further, the limit of the average communication rate is derived and the tradeoff between this limit and the estimation performance is discussed. Moreover, the case of multi-threshold quantized observations is considered. Numerical examples are included to illustrate the obtained main results. | Jin GUO Jing-Dong DIAO | 2020 | Science China(Information Sciences)2020，63，1： | 6 |
| 5 | 有领导者线性多智能体系统一致性的分析与设计显示文摘研究有向信息拓扑下有领导者线性多智能体系统的一致性分析与设计问题。利用提出的线性变换,将领导者有扰动输入的多智能体系统一致性问题转换为输入到状态稳定性问题。得到有向信息拓扑下有领导者线性多智能体系统达到一致的基于矩阵Hurwitz稳定的判据和误差估计函数,同时设计反馈增益矩阵,并将有领导者多智能体系统的一致性问题扩展到编队控制问题。数值实例验证表明:所得理论具有有效性。 | 盖彦荣 陈阳舟 宋学君 齐耀辉 | 2017 | 中南大学学报(自然科学版)2017，48，3： | 5 |
| 6 | Bipartite Consensus of Discrete-Time Double-Integrator Multi-Agent Systems with Measurement Noise显示文摘The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measurement noise is present for the agent receiving the state information from its neighbors. Time-varying stochastic bipartite consensus protocols are designed in order to lessen the harmful effects of the noise. Consequently, the state transition matrix of the closed-loop system is analyzed, and sufficient and necessary conditions for the proposed protocol to be a mean square bipartite consensus protocol are given with the help of linear transformation and algebraic graph theory. It is proven that the signed digraph to be structurally balanced and having a spanning tree are the weakest communication assumptions for ensuring bipartite consensus. In particular, the proposed protocol is a mean square bipartite average consensus one if the signed digraph is also weight balanced. | MA Cuiqin ZHAO Weiwei ZHAO Yunbo | 2018 | Journal of Systems Science & Complexity2018，31，6： | 4 |
| 7 | Robust Semi-Global Leaderless Consensus and Containment Control of Identical Linear Systems with Imperfect Actuators显示文摘这份报纸两个都与有瑕疵的致动器为一组相同线性系统调查柔韧的半全球的无领袖的一致问题和柔韧的半全球的抑制控制问题。有瑕疵的致动器被象浸透和死了的地区那样的非线性描绘,在那里,输入输出关系精确不被知道。追随者代理人的动力学被输入添加剂骚乱也影响。Low-and-high 获得反馈一致协议被构造解决这些问题。更明确地,每个追随者代理人什么时候存取至少一个领导人代理人的信息,被显示出柔韧的半全球的无领袖的一致能在一张连接的未受指导的图上被完成,柔韧的半全球的抑制控制能被完成。数字模拟说明理论结果。 | SHI Liangren ZHAO Zhiyun LIN Zongli | 2018 | Journal of Systems Science & Complexity2018，31，1： | 3 |
| 8 | 线性多智能体系统一致性的自适应动态规划求解方法显示文摘利用自适应动态规划的在线迭代算法来研究线性多智能体系统的一致性问题.所研究的多智能体系统的状态矩阵和输入矩阵可以是已知的或未知的.首先,给出多智能体系统依赖初始时刻、终端时刻的性能指标;然后,将由初始时刻和终端时刻确定的时间段进行划分;接着,结合代数Riccati方程推导出迭代方程,并在划分后的时间段上重复地利用系统的状态信息和输入信息进行迭代计算,直至算法收敛为止;最后,利用仿真试验验证了该算法的有效性. | 李健 沈艳军 刘允刚 | 2016 | 系统科学与数学2016，36，7： | 3 |
| 9 | Mean Square Containment Control of Multi-agent Systems with Transmission Noises显示文摘为有传播噪音的多代理人系统的抑制控制问题被考虑。由于噪音的存在,腐烂的获得功能被介绍稀释噪音。动态地交换拓扑学并且随机交换拓扑学被考虑。通讯图和控制获得功能上的足够的条件被导出保证吝啬的方形的抑制。一些数字例子被提供验证结果。 | LIU Shuai XIE Li-Hua ZHANG Huan-Shui | 2013 | 自动化学报2013，39，11： | 3 |
| 10 | Model-Based Network Scheduling and Control for Systems over the IEEE 802.15.4 Network显示文摘The scheduling and control of a class of wireless networked control system is investigated,whose control loop is closed via a shared IEEE 802.15.4 wireless network. By using a gain scheduler within the packet-based control framework and fitting the delay-dependent gains into a time-delay system model, a less conservative self-triggered approach is proposed to determine the sampling update,which consequently enables the design of two network scheduling algorithms to reduce the communication usage. Numerical and TrueT ime based examples illustrate the effectiveness of the proposed approach in the sense that it reduces greatly the communication usage while maintaining satisfactory control performance. | ZHAO Yunbo XU Deheng HE Jiangtao XI Xugang KANG Yu | 2021 | Journal of Systems Science & Complexity2021，34，1： | 2 |
| 11 | Finite-Time Synchronization for a Class of Dynamical Complex Networks with Nonidentical Nodes and Uncertain Disturbance显示文摘This paper investigates the finite-time synchronization for a class of linearly coupled dynamical complex networks with both nonidentical nodes and uncertain disturbance. A set of controllers are designed such that the considered system can be finite-timely synchronized onto the target node. Based on the stability of the error equation, the Lyapunov function method and the linear matrix inequality technique, several sufficient conditions are derived to ensure the finite-time synchronization, and applied to the case of identical nodes and tlie one without uncertain disturbance. Also the adaptive finite-time synchronization is discussed. A numerical example is given to show the effectiveness of the main results obtained. | LI Qingbo GUO Jin SUN Changyin WU Yuanyuan DING Zhengtao | 2019 | Journal of Systems Science & Complexity2019，32，3： | 2 |
| 12 | Predictive Event-Triggered Control for Disturbanced Wireless Networked Control Systems显示文摘The control and scheduling for wireless networked control system with packet dropout and disturbance are investigated.A prediction based event triggered control is proposed to reduce data transmissions while preserving the robustness against external disturbance.First,a trigger threshold is especially designed to maintain the difference of the estimated and actual states below a proper boundary when system suffers from packet dropout.Then a predictive controller is designed to compensate for packet dropouts by utilizing the packet-based control approach.The sufficient conditions to ensure the closed-loop system being uniformly ultimately bounded are derived,with consequently the controller gain method.Numerical examples illustrate the effectiveness of the proposed approach. | ZHAO Yunbo PAN Xiaokang YU Shiming | 2021 | Journal of Systems Science & Complexity2021，34，3： | 2 |
| 13 | 事件触发控制下二阶多智能体的量化一致性显示文摘针对多智能体系统网络通信过程中信息需要量化的情况,研究了二阶多智能体系统在事件触发控制下的量化一致性。基于事件触发控制策略,提出一致性协议,并采用对数量化器对控制输入进行量化处理。利用Lyapunov稳定性理论,对系统进行一致性分析,得到了多智能体系统渐近趋于一致的充分条件。仿真结果说明了理论分析的有效性。 | 刘丹 胡爱花 赵丹 | 2016 | 计算机工程与应用2016，52，24： | 1 |
| 14 | 带有噪声和时滞的二阶多智能体的一致性显示文摘研究了随机二阶时滞多智能体系统的几乎必然指数一致性问题.同时考虑了由Browian运动所导致的随机扰动和系统节点时间延迟两种情况.首先,建立随机二阶时滞多智能体系统的误差动力系统.其次,通过建立适当的Lyapunov泛函,并结合随机分析理论、控制技术以及线性矩阵不等式,从而得到了确保系统达到几乎必然指数一致性的充分性条件.最后,数值仿真的例子证实了所得结论的有效性. | 叶志勇 季慧慧 张贺 张华 | 2017 | 南京师大学报(自然科学版)2017，40，2： | 1 |
| 15 | 基于事件触发的多无人机群快速编队控制显示文摘在有向拓扑结构下,针对无人机之间存在通信噪声干扰,研究了基于事件触发的多无人机群快速编队控制。为了节约无人机的能量和通信成本,运用事件触发方法,使无人机间仅在触发时刻进行通信。为了加快多无人机系统的编队速度,利用无人机自身历史时刻的信息及其含有通信噪声的邻居无人机的历史时刻信息,设计了分布式快速编队控制输入。利用李雅普诺夫稳定性定理和图论知识等,证明了多无人机系统可以在给定触发条件下快速形成稳定的期望编队。将算法应用到四旋翼无人机系统中,通过仿真验证了文中理论结果的有效性。 | 庄亚楠 苗国英 孙英博 | 2022 | 电子信息对抗技术2022，37，6： | 1 |
| 16 | 内外不确定因素同时估计与补偿的鲁棒分布式跟踪控制显示文摘本文研究了多运动体系统中领航者(leader)和跟随者(follower)同时受扰条件下的跟踪控制问题.针对3–DOF直升机模型的角度轨迹协同跟踪任务,设计并验证了基于跟随者不确定因素和外部领航者干扰同时补偿的分布式鲁棒算法.分别通过不确定与干扰估计器和扩张状态观测器实现对内外扰动的估计与补偿,恢复了标称系统的跟踪性能.证明了闭环估计误差和跟踪误差的最终界大小与估计器核心参数值的单调关系,同时给出了系统实现渐近跟踪的条件.利用数字仿真实验和'虚实结合'实验验证了内外干扰同时补偿的必要性和参数调节机制的有效性. | 张特 李世尧 朱波 | 2021 | 控制理论与应用2021，38，7： | 1 |
| 17 | ROBUST CONSENSUS FOR MULTI-AGENT SYSTEMS OVER UNBALANCED DIRECTED NETWORKS显示文摘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. | LI Dequan WANG Xiaofan YIN Zhixiang | 2014 | Journal of Systems Science & Complexity2014，27，6： | 0 |
| 18 | Further results on dynamic-algebraic Boolean control networks显示文摘Restricted coordinate transformation, controllability, observability and topological structures of dynamic-algebraic Boolean control networks are investigated under an assumption. Specifically, given the input-state at some point, assume that the subsequent state is certain or does not exist. First, the system can be expressed in a new form after numbering the elements in admissible set. Then, restricted coordinate transformation is raised, which allows the dimension of new coordinate frame to be different from that of the original one. The system after restricted coordinate transformation is derived in the proposed form.Afterwards, three types of incidence matrices are constructed and the results of controllability, observability and topological structures are obtained. Finally, two practical examples are shown to demonstrate the theory in this paper. | Sen WANG Jun-E FENG Yongyuan YU Jianli ZHAO | 2019 | Science China(Information Sciences)2019，62，1： | 0 |
| 19 | Reaching a stochastic consensus in the noisy networks of linear MIMO agents:Dynamic output-feedback and convergence rate显示文摘This paper addresses the leader-following consensus problem of linear multi-agent systems(MASs) with communication noise. Each agent's dynamical behavior is described by a linear multi-input and multi-output(MIMO) system, and the agent's full state is assumed to be unavailable. To deal with this challenge, a state observer is constructed to estimate the agent's full state. A dynamic output-feedback based protocol that is based on the estimated state is proposed. To mitigate the effect of communication noise, noise-attenuation gains are also introduced into the proposed protocol. In this study, each agent is allowed to have its own noise-attenuation gain. It is shown that the proposed protocol can solve the mean square leader-following consensus problem of a linear MIMO MAS. Moreover, if all noise-attenuation gains are of Q(t-β), where b∈(0,1), the convergence rate of the MAS can be quantitatively analyzed. It turns out that all followers' states converge to the leader's state in the mean square sense at a rate of O(t-β). | WANG YunPeng CHENG Long YANG ChenGuang HOU ZengGuang TAN Min | 2016 | Science China(Technological Sciences)2016，59，1： | 0 |
| 20 | 多自主体系统的分析与干预显示文摘多自主体系统集体行为的研究可以分为三类:分析,设计和干预.针对经典的群集模型-Vicsek模型及其相关模型,介绍了系统控制重点实验室近年来取得的研究成果和进展,主要包括概率框架下Vicsek模型的同步分析,以及针对干预问题提出的软控制等方法在Vicsek模型同步问题和多人博弈系统合作问题中的应用. | 强成仓 韩靖 | 2012 | 系统科学与数学2012，32，10： | 0 |
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