21 results on '"Qin, Jiahu"'
Search Results
2. Hierarchical Optimal Synchronization for Linear Systems via Reinforcement Learning: A Stackelberg–Nash Game Perspective.
- Author
-
Li, Man, Qin, Jiahu, Ma, Qichao, Zheng, Wei Xing, and Kang, Yu
- Subjects
- *
REINFORCEMENT learning , *LINEAR systems , *HAMILTON-Jacobi-Bellman equation , *HAMILTON-Jacobi equations , *SYNCHRONIZATION , *ARTIFICIAL neural networks - Abstract
Considering the fact that in the real world, a certain agent may have some sort of advantage to act before others, a novel hierarchical optimal synchronization problem for linear systems, composed of one major agent and multiple minor agents, is formulated and studied in this article from a Stackelberg–Nash game perspective. The major agent herein makes its decision prior to others, and then, all the minor agents determine their actions simultaneously. To seek the optimal controllers, the Hamilton–Jacobi–Bellman (HJB) equations in coupled forms are established, whose solutions are further proven to be stable and constitute the Stackelberg–Nash equilibrium. Due to the introduction of the asymmetric roles for agents, the established HJB equations are more strongly coupled and more difficult to solve than that given in most existing works. Therefore, we propose a new reinforcement learning (RL) algorithm, i.e., a two-level value iteration (VI) algorithm, which does not rely on complete system matrices. Furthermore, the proposed algorithm is shown to be convergent, and the converged values are exactly the optimal ones. To implement this VI algorithm, neural networks (NNs) are employed to approximate the value functions, and the gradient descent method is used to update the weights of NNs. Finally, an illustrative example is provided to verify the effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
3. On Synchronization of Dynamical Systems Over Directed Switching Topologies: An Algebraic and Geometric Perspective.
- Author
-
Qin, Jiahu, Ma, Qichao, Yu, Xinghuo, and Wang, Long
- Subjects
- *
ALGEBRAIC topology , *DYNAMICAL systems , *GEOMETRIC topology , *SYNCHRONIZATION , *LINEAR systems , *ELECTRIC network topology , *SPANNING trees - Abstract
In this article, we aim to investigate the synchronization problem of dynamical systems, which can be of generic linear or Lipschitz nonlinear type, communicating over directed switching network topologies. A mild connectivity assumption on the switching topologies is imposed, which allows them to be directed and jointly connected. We propose a novel analysis framework from both algebraic and geometric perspectives to justify the attractiveness of the synchronization manifold. Specifically, it is proven that the complementary space of the synchronization manifold can be spanned by certain subspaces constructed from the network structure. This allows to project the states of the dynamical systems onto these subspaces and transform the synchronization problem under consideration equivalently into a convergence one of the projected states in each subspace. Then, assuming the joint connectivity condition on the communication topologies, we are able to work out a unified convergence analysis for both types of dynamical systems. More specifically, for partial-state coupled generic linear systems, it is proven that synchronization can be reached if an extra condition, which is easy to verify in several cases, on the system dynamics is satisfied. For Lipschitz nonlinear systems with positive-definite inner coupling matrix, synchronization is realized if the coupling strength is strong enough to stabilize the evolution of the projected states in each subspace under certain conditions. The above claims generalize the existing results concerning both types of dynamical systems to so far the most general framework. Some illustrative examples are provided to verify our theoretical findings. [ABSTRACT FROM AUTHOR]
- Published
- 2020
- Full Text
- View/download PDF
4. Circular Formation Algorithms for Multiple Nonholonomic Mobile Robots: An Optimization-Based Approach.
- Author
-
Qin, Jiahu, Wang, Shuai, Kang, Yu, and Liu, Qingchen
- Subjects
- *
MOBILE robots , *NONHOLONOMIC dynamical systems , *CIRCULAR motion , *ALGORITHMS , *ROBOT control systems - Abstract
This paper revisits the circular formation control problem proposed in [G. S. Seyboth, J. Wu, J. Qin, C. Yu, and F. Allgower, “Collective circular motion of unicycle type vehicles with nonidentical constant velocities,” IEEE Transactions on Control of Network Systems, vol. 1, no. 2, pp. 167–176, Jun. 2014.] for multiple nonholonomic mobile robots with nonidentical constant forward speeds. Specifically, we study two types of circular formations: First, a circular motion with synchronized/balanced phase configuration; and second, a concentric circular formation with both circular orbits control and phase synchronization/balancing. Existing works on the above problems utilize a fixed-gain control input, which increases the workload of the engineers for selecting favorable algorithm parameters. To reduce this workload, we study the above problems from a new perspective by utilizing optimization methods, based on which two variable-gain control algorithms are proposed such that much greater flexibility on the selection of algorithm parameters is acquired. The global convergence properties of the proposed algorithms are analyzed under some mild assumptions. Both simulations and field experiments are presented to validate the effectiveness of the proposed formation algorithms. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
- View/download PDF
5. On Group Synchronization for Clusters of Agents with Collectively Acyclic Intercluster Couplings.
- Author
-
Kang, Yu, Qin, Jiahu, Ma, Qichao, Song, Weiguo, and Fu, Weiming
- Subjects
- *
SYNCHRONIZATION , *NONLINEAR oscillators , *LINEAR systems , *CLUSTER analysis (Statistics) , *ELECTRIC network topology - Abstract
This paper investigates the group synchronization problem for interacting clusters of agents, which can be either generic linear systems or nonlinear oscillators, by focusing on in-depth understanding of how the couplings among agents influence the group behavior. To this end, we work on both the homogeneous case that agents have the same system dynamics and the heterogeneous case that agents from different clusters have different system dynamics. It is shown that the synchronization for each cluster of agents is irrelevant to the strength of the intercluster couplings as long as the intercluster couplings are collectively acyclic; that is, the intercluster couplings do not incur desynchronization and, thus, no extra effort beyond the strengths of the intracluster couplings, which are necessary to guarantee the synchronization of each cluster in the absence of intercluster couplings, are needed. Moreover, we provide an example demonstrating that the condition of having collectively acyclic intercluster couplings is not a necessity in guaranteeing the above property. [ABSTRACT FROM AUTHOR]
- Published
- 2017
- Full Text
- View/download PDF
6. On Group Synchronization for Interacting Clusters of Heterogeneous Systems.
- Author
-
Qin, Jiahu, Ma, Qichao, Gao, Huijun, Shi, Yang, and Kang, Yu
- Abstract
This paper investigates group synchronization for multiple interacting clusters of nonidentical systems that are linearly or nonlinearly coupled. By observing the structure of the coupling topology, a Lyapunov function-based approach is proposed to deal with the case of linear systems which are linearly coupled in the framework of directed topology. Such an analysis is then further extended to tackle the case of nonlinear systems in a similar framework. Moreover, the case of nonlinear systems which are nonlinearly coupled is also addressed, however, in the framework of undirected coupling topology. For all these cases, a consistent conclusion is made that group synchronization can be achieved if the coupling topology for each cluster satisfies certain connectivity condition and further, the intra-cluster coupling strengths are sufficiently strong. Both the lower bound for the intra-cluster coupling strength as well as the convergence rate are explicitly specified. [ABSTRACT FROM PUBLISHER]
- Published
- 2017
- Full Text
- View/download PDF
7. Robust Pinning Constrained Control and Adaptive Regulation of Coupled Chua’s Circuit Networks.
- Author
-
Jin, Xiaozheng, Jiang, Chengcheng, Qin, Jiahu, and Zheng, Wei Xing
- Subjects
ADAPTIVE control systems ,LYAPUNOV stability ,STABILITY theory ,COUPLING schemes ,FLUX pinning ,GOVERNMENT regulation - Abstract
This paper addresses the problems of pinning synchronization control and regulation and its circuit realization of a class of perturbed coupled Chua’s circuit networks. Robust constrained control strategies for pinned circuits and adaptive regulation schemes for couplings are developed to eliminate the impact of bounded time-varying perturbations and nonlinearities. Bounded synchronization results of the closed-loop Chua’s circuit networks are obtained based on Lyapunov stability theory. Furthermore, the control strategies and adaptive regulation schemes are implemented physically by circuits to construct the closed-loop Chua’s circuit networks reality. Comparison results based on MULTISIM and MATLAB softwares are given to verify the effectiveness of the proposed control and regulation circuits. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
- View/download PDF
8. Leader-Following Practical Cluster Synchronization for Networks of Generic Linear Systems: An Event-Based Approach.
- Author
-
Qin, Jiahu, Fu, Weiming, Shi, Yang, Gao, Huijun, and Kang, Yu
- Subjects
- *
ARTIFICIAL neural networks , *SYNCHRONIZATION - Abstract
In network systems, a group of nodes may evolve into several subgroups and coordinate with each other in the same subgroup, i.e., reach cluster synchronization, to cope with the unanticipated situations. To this end, the leader-following practical cluster synchronization problem of networks of generic linear systems is studied in this paper. An event-based control algorithm that can largely reduce the amount of communication is first proposed over directed communication topologies. In the proposed algorithm, each node decides itself when to transmit its current state to its neighbors and how to update its controller according to the estimations of the states of it and its neighbors. Then, the Lyapunov method is utilized to perform the convergence analysis. It shows that the practical cluster synchronization can be ensured by choosing appropriate parameters no matter what kind of estimation for the state is applied. Furthermore, the Zeno behavior is also excluded for each node under some mild assumptions. Besides, three kinds of common estimations for the states including zero-order hold model, first-order approximate model, and high-order model-based estimations are, respectively, analyzed from the perspective of the exclusion of Zeno behavior. Finally, the validity of the proposed algorithm is demonstrated, the effects of the concerned parameters are simply presented, and the effects of the three estimations are also compared through several simulations. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
- View/download PDF
9. Optimal Synchronization Control of Multiagent Systems With Input Saturation via Off-Policy Reinforcement Learning.
- Author
-
Qin, Jiahu, Li, Man, Shi, Yang, Ma, Qichao, and Zheng, Wei Xing
- Subjects
- *
MULTIAGENT systems , *REINFORCEMENT learning - Abstract
In this paper, we aim to investigate the optimal synchronization problem for a group of generic linear systems with input saturation. To seek the optimal controller, Hamilton–Jacobi–Bellman (HJB) equations involving nonquadratic input energy terms in coupled forms are established. The solutions to these coupled HJB equations are further proven to be optimal and the induced controllers constitute interactive Nash equilibrium. Due to the difficulty to analytically solve HJB equations, especially in coupled forms, and the possible lack of model information of the systems, we apply the data-based off-policy reinforcement learning algorithm to learn the optimal control policies. A byproduct of this off-policy algorithm is shown that it is insensitive to probing noise that is exerted to the system to maintain persistence of excitation condition. In order to implement this off-policy algorithm, we employ actor and critic neural networks to approximate the controllers and the cost functions. Furthermore, the estimated control policies obtained by this presented implementation are proven to converge to the optimal ones under certain conditions. Finally, an illustrative example is provided to verify the effectiveness of the proposed algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2019
- Full Text
- View/download PDF
10. Multi-Timer Based Event Synchronization Control for Sensor Networks and Its Application.
- Author
-
Qin, Jiahu, Li, Fangyuan, Mou, Shaoshuai, and Kang, Yu
- Subjects
- *
WIRELESS sensor nodes , *SYNCHRONIZATION , *ACYCLIC model , *REAL-time clocks (Computers) - Abstract
Applications of sensor networks usually require events at all nodes to be synchronized. To meet such requirement, this work proposes two multi-timer model based event synchronization schemes which are fully distributed. The proposed model consists of multiple timers with each timer characterizing a sensor node whose events are triggered by timer interrupts. Each timer updates its preset values by only using values from its nearby neighbors. Event synchronization is achieved when all timers reach their preset values simultaneously. One key feature of this work is by unifying the time synchronization part and the embedded system part of the sensor networks to reach the strict event synchronization. The effectiveness of the proposed schemes is demonstrated by simulation examples and a case study in a microgrid. [ABSTRACT FROM AUTHOR]
- Published
- 2016
- Full Text
- View/download PDF
11. Output Group Synchronization for Networks of Heterogeneous Linear Systems Under Internal Model Principle.
- Author
-
Ma, Qichao, Qin, Jiahu, Zheng, Wei Xing, and Kang, Yu
- Subjects
- *
LINEAR systems , *SYNCHRONIZATION , *ELECTRIC power production , *ELECTRIC generators , *CLUSTER theory (Nuclear physics) - Abstract
In this paper, we aim to investigate the output group synchronization problem for a network of heterogeneous linear systems such that the outputs of the nodes, each representing a linear system, synchronize with each other in every cluster. Two different setups in terms of availability of the states of the reference generators are taken into consideration. A unified approach inspired by the internal model principle is proposed. First, the coupled reference generators are constructed so as to produce synchronized reference trajectories. Second, feedback controllers are designed to steer the output of each node to its corresponding reference trajectory. The two setups differ from each other in that the coupling configuration for reference generators and design of feedback controllers are rather different. Specifically, when the states of the reference generators are not available, the small gain theorem is exploited to drive the outputs of the nodes to the synchronized ones of virtual reference generators. Finally, simulations are carried out to validate the theoretical findings. [ABSTRACT FROM PUBLISHER]
- Published
- 2018
- Full Text
- View/download PDF
12. Cluster Synchronization for Interacting Clusters of Nonidentical Nodes via Intermittent Pinning Control.
- Author
-
Kang, Yu, Qin, Jiahu, Ma, Qichao, Gao, Huijun, and Zheng, Wei Xing
- Subjects
- *
SYNCHRONIZATION , *ELECTRIC network topology , *CLUSTER analysis (Statistics) , *ADAPTIVE optics , *COUPLING schemes - Abstract
The cluster synchronization problem is investigated using intermittent pinning control for the interacting clusters of nonidentical nodes that may represent either general linear systems or nonlinear oscillators. These nodes communicate over general network topology, and the nodes from different clusters are governed by different self-dynamics. A unified convergence analysis is provided to analyze the synchronization via intermittent pinning controllers. It is observed that the nodes in different clusters synchronize to the given patterns if a directed spanning tree exists in the underlying topology of every extended cluster (which consists of the original cluster of nodes as well as their pinning node) and one algebraic condition holds. Structural conditions are then derived to guarantee such an algebraic condition. That is: 1) if the intracluster couplings are with sufficiently strong strength and the pinning controller is with sufficiently long execution time in every period, then the algebraic condition for general linear systems is warranted and 2) if every cluster is with the sufficiently strong intracluster coupling strength, then the pinning controller for nonlinear oscillators can have its execution time to be arbitrarily short. The lower bounds are explicitly derived both for these coupling strengths and the execution time of the pinning controller in every period. In addition, in regard to the above-mentioned structural conditions for nonlinear systems, an adaptive law is further introduced to adapt the intracluster coupling strength, such that the cluster synchronization for nonlinear systems is achieved. [ABSTRACT FROM AUTHOR]
- Published
- 2018
- Full Text
- View/download PDF
13. Event-based agreement protocols for complex networks with time delays under pinning control.
- Author
-
Liu, Qingchen, Qin, Jiahu, and Yu, Changbin
- Subjects
- *
SYNCHRONIZATION , *POWER resources , *LINEAR systems , *BINOMIAL distribution , *LINEAR matrix inequalities - Abstract
Most pinning synchronization schemes for complex networks with or without time delays reported in the literature require continuous state measurements and control updates, which are not suitable for implementation on digital platforms. In this paper, we first establish some pinning synchronization criteria for complex networks modeled by directed graphs with both internal and coupling delays based on an event-triggered mechanism. We also propose the design method for control gains under some mild assumptions. The piecewise constant nature of control law can help reduce the number of updates significantly, thereby saving energy resources. Moreover, by obtaining an explicit lower bound on the inter-event time interval, we prove that Zeno behavior does not exist in the evolution of each node of the complex network. At last, simulations are provided which verify the effectiveness of the proposed controllers. [ABSTRACT FROM AUTHOR]
- Published
- 2016
- Full Text
- View/download PDF
14. Cluster synchronization in directed networks of partial-state coupled linear systems under pinning control.
- Author
-
Yu, Changbin (Brad), Qin, Jiahu, and Gao, Huijun
- Subjects
- *
LINEAR systems , *CLUSTER analysis (Statistics) , *SYNCHRONIZATION , *AUTOMATIC control systems , *COUPLED structural systems , *FEEDBACK control systems , *ELECTRIC network topology - Abstract
This paper investigates the cluster synchronization for network of linear systems via a generalized pinning control strategy which allows the network of each cluster to take relaxed topological structure. For the case with fixed topology, it is shown that a feasible feedback controller can be designed to achieve the given cluster synchronization pattern if the induced network topology of each cluster has a directed spanning tree and further compared to the couplings among different clusters, the couplings within the each cluster are sufficiently strong. An extra balanced condition is imposed on the network topology of each cluster to allow for the cluster synchronization under arbitrary switching network topologies. Such a balanced condition can be removed via the use of dwell-time technique. For all the cases, the lower bounds for such strengths of couplings within each cluster that secure the synchronization as well as cluster synchronization rate are explicitly specified. Finally, some illustrative examples are provided to demonstrate the effectiveness of the theoretical findings. [ABSTRACT FROM AUTHOR]
- Published
- 2014
- Full Text
- View/download PDF
15. H\infty Consensus and Synchronization of Nonlinear Systems Based on A Novel Fuzzy Model.
- Author
-
Zhao, Yan, Li, Bing, Qin, Jiahu, Gao, Huijun, and Karimi, Hamid Reza
- Abstract
This paper investigates the H\infty consensus control problem of nonlinear multiagent systems under an arbitrary topological structure. A novel Takagi–Sukeno (T–S) fuzzy modeling method is proposed to describe the problem of nonlinear follower agents approaching a time-varying leader, i.e., the error dynamics between the follower agents and the leader, whose dynamics is evolving according to an isolated unforced nonlinear agent model, is described as a set of T–S fuzzy models. Based on the model, a leader-following consensus algorithm is designed so that, under an arbitrary network topology, all the follower agents reach consensus with the leader subject to external disturbances, preserving a guaranteed H\infty performance level. In addition, we obtain a sufficient condition for choosing the pinned nodes to make the entire multiagent network reach consensus. Moreover, the fuzzy modeling method is extended to solve the synchronization problem of nonlinear systems, and a fuzzy H\infty controller is designed so that two nonlinear systems reach synchronization with a prescribed H\infty performance level. The controller design procedure is greatly simplified by utilization of the proposed fuzzy modeling method. Finally, numerical simulations on chaotic systems and arbitrary nonlinear functions are provided to illustrate the effectiveness of the obtained theoretical results. [ABSTRACT FROM PUBLISHER]
- Published
- 2013
- Full Text
- View/download PDF
16. Exponential Synchronization of Complex Networks of Linear Systems and Nonlinear Oscillators: A Unified Analysis.
- Author
-
Qin, Jiahu, Gao, Huijun, and Zheng, Wei Xing
- Subjects
- *
COMPUTATIONAL complexity , *LINEAR systems , *NONLINEAR oscillators , *STOCHASTIC convergence , *GRAPH theory - Abstract
A unified approach to the analysis of synchronization for complex dynamical networks, i.e., networks of partial-state coupled linear systems and networks of full-state coupled nonlinear oscillators, is introduced. It is shown that the developed analysis can be used to describe the difference between the state of each node and the weighted sum of the states of those nodes playing the role of leaders in the networks, thus making it feasible to consider the error dynamics for the whole network system. Different from the other various methods given in the existing literature, the analysis employed in this paper is demonstrated successfully in not only providing the consistent convergence analysis with much simpler form, but also explicitly specifying the convergence rate. [ABSTRACT FROM AUTHOR]
- Published
- 2015
- Full Text
- View/download PDF
17. Stationary Consensus of Asynchronous Discrete-Time Second-Order Multi-Agent Systems Under Switching Topology.
- Author
-
Qin, Jiahu, Yu, Changbin, and Hirche, Sandra
- Abstract
This paper is concerned with the asynchronous consensus problem of discrete-time second-order multi-agent system under dynamically changing communication topology, in which the asynchrony means that each agent detects the neighbors' state information to update its state information by its own clock. It is not assumed that the agents' clocks are synchronized. Nor is it assumed that the time sequence over which each agent update its state information is evenly spaced. By using tools from graph theory and nonnegative matrix theory, particularly the product properties of row-stochastic matrices from an infinite set, we finally show that essentially the same result as that for the synchronous discrete-time system holds in the face of asynchronous setting. This generalizes the existing result to a very general case. [ABSTRACT FROM PUBLISHER]
- Published
- 2012
- Full Text
- View/download PDF
18. Coordination of Multiple Agents With Double-Integrator Dynamics Under Generalized Interaction Topologies.
- Author
-
Qin, Jiahu, Zheng, Wei Xing, and Gao, Huijun
- Subjects
- *
STOCHASTIC convergence , *MULTIPLE integrals , *TOPOLOGY , *GRAPH theory , *SYNCHRONIZATION , *ALGORITHMS - Abstract
The problem of the convergence of the consensus strategies for multiple agents with double-integrator dynamics is studied in this paper. The investigation covers two kinds of different settings. In the setting with the interaction topologies for the position and velocity information flows being modeled by different graphs, some sufficient conditions on the fixed interaction topologies are derived for the agents to reach consensus. In the setting with the interaction topologies for the position and velocity information flows being modeled by the same graph, we systematically investigate the consensus algorithm for the agents under both fixed and dynamically changing directed interaction topologies. Specifically, for the fixed case, a necessary and sufficient condition on the interaction topology is established for the agents to reach (average) consensus under certain assumptions. For the dynamically changing case, some sufficient conditions are obtained for the agents to reach consensus, where the condition imposed on the dynamical topologies is shown to be more relaxed than that required in the existing literature. Finally, we demonstrate the usefulness of the theoretical findings through some numerical examples. [ABSTRACT FROM AUTHOR]
- Published
- 2012
- Full Text
- View/download PDF
19. On pinning synchronisability of complex networks with arbitrary topological structure.
- Author
-
Qin, Jiahu, Zheng, Wei Xing, and Gao, Huijun
- Subjects
- *
SENSOR networks , *TOPOLOGY , *SYNCHRONIZATION , *DIFFERENTIABLE functions , *LINEAR algebra , *EXPONENTIAL functions , *INFORMATION filtering - Abstract
This article aims to investigate the pinning synchronisability of complex networks under arbitrary topological structures with a focus on the case with directed graph topology. More specifically, we explore the necessary and sufficient conditions on choosing the pinned nodes to guarantee the pinning synchronisability of complex networks. It is found that the pinning synchronisability of complex networks relies totally on the way to pin the nodes as long as the coupling strength is large enough. Furthermore, it is proven that the entire network can synchronise exponentially fast. The least synchronisation speed can be specified as well. Finally, based on the theoretical findings proposed in this article, we provide the specific procedures for finding a least number of pinned nodes to realise the pinning synchronisability of complex networks. [ABSTRACT FROM AUTHOR]
- Published
- 2011
- Full Text
- View/download PDF
20. Output synchronization for heterogeneous system via semi-Markov switching scheme with mode-switching delay.
- Author
-
Du, Ku, Ma, Qichao, Kang, Yu, and Qin, Jiahu
- Subjects
- *
SYNCHRONIZATION , *STOCHASTIC systems , *TOPOLOGY - Abstract
• First, a general setup that the output consensu of heterogeneous systems is considered for both without model-switching delay and with model switching delay under Markov switching topologies. • Second, under mild connectivity assumption , the coupled system with or without model-switching delay can achieve output synchronization by using the Lyapunov method. • Third, the criterion in theorem is significant difficulty, we propose some certain techniques to circumvent the difficulty. • Fourth, we also prove that an exponentially stable stochastic system, in mean square, with nonvanishing perturbation can achieve ultimately bounded in a small bound. In this paper, output consensus for a series of heterogeneous systems under semi-markov switching topology is investigated. The scenario under consideration is that none of the graph is assumed to be connected and the mode-switching delay is existed. The main technical challenge is model and controller dismatch because of time delay. Assuming every individual system is stabilizable and detectable and mild connectivity assumption on communication topology, the coupled system without model-switching delay can achieve output synchronization by using the Lyapunov method. For the coupled systems with model-switching delay, a bounded output synchronization conclusion can be given. The existence of controller design is also investigated. By the way, we prove an exponentially stable stochastic system, in mean square, with non-vanishing perturbation can achieve uniform boundedness and ultimate boundedness. Finally, two examples are presented to verify our main theories. [ABSTRACT FROM AUTHOR]
- Published
- 2021
- Full Text
- View/download PDF
21. On the delay bound for coordination of multiple generic linear agents under arbitrary topology with time delay.
- Author
-
Sheng, Jie, Ma, Qichao, Fu, Weiming, Qin, Jiahu, and Kang, Yu
- Subjects
- *
LINEAR statistical models , *TOPOLOGY , *TIME delay systems , *HOMOGENEOUS spaces , *SYNCHRONIZATION - Abstract
Abstract A coordination control of multiple generic linear homogeneous agents under arbitrary network topology with uniform and fixed time delay is proposed in this paper. From the network topology, the agents are categorized into two groups: those within the closed strong components (group 1) and those outside the closed strong components (group 2). It is shown that under allowable delay bound, the agents of group 1 reach synchronization while the agents of group 2 converge asymptotically to the convex hull spanned by the synchronized agents of group 1. The technique of semi-discretization is applied for computing the delay bound. For a specific time delay, the method is also feasible in finding an optimal coordination control gain with the fastest decay rate. A linear matrix inequality method is also given to show an alternative way to find the maximum allowable delay bound. An illustrative simulation is presented to validate our obtained theoretical results. [ABSTRACT FROM AUTHOR]
- Published
- 2018
- Full Text
- View/download PDF
Catalog
Discovery Service for Jio Institute Digital Library
For full access to our library's resources, please sign in.