18 results on '"Yu, Changbin"'
Search Results
2. An examination of coordination for homogeneous linear agents under arbitrary network topology
- Author
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Conference on Control Engineering (3rd: 2013: Perth, W.A.), Qin, Jiahu, and Yu, Changbin
- Published
- 2013
3. Synchronization for interacting clusters of generic linear agents and nonlinear oscillators: a unified analysis
- Author
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Yu Changbin and Jiahu Qin
- Subjects
Nonlinear oscillators ,Rate of convergence ,Exploit ,Control theory ,Synchronization (computer science) ,Structure (category theory) ,Cluster (physics) ,Coupling topology ,Topology ,Upper and lower bounds ,Mathematics - Abstract
This paper aims to exploit a unified analysis that is feasible in tackling the synchronization for multiple interacting clusters of generic linear agents and nonlinear oscillators, which are usually considered separately using different methodologies. With this newly proposed analysis, we are able to not only provide the sufficient conditions in terms of coupling strength and structure of the coupling topology which are easy to verify but also explicitly specify the lower bound for the coupling strength as well as the convergence rate. All the results and methodologies are applicable to the classic complete consensus/synchronization problem whereas there is only one cluster of agents.
- Published
- 2014
4. Distance‐based control of formations with hybrid communication topology.
- Author
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Hou, Yun and Yu, Changbin
- Subjects
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TOPOLOGY , *COMMUNICATION , *MULTIAGENT systems , *GRAPHIC methods , *AUTOMATION - Abstract
Summary: In this paper, we focus on the control of multiagent formations with hybrid communication topology through a distance‐based approach. By saying hybrid topology, we mean that the communication topology contains both undirected and directed links, or the underlying graph of the formation contains both undirected and directed edges. A new type of graph, ie, hybrid graph, is introduced. We discuss the persistence of hybrid graphs and present the persistence verification strategy for hybrid graphs. It is proved that all the minimally persistent hybrid graphs can be obtained from persistent directed graphs by the operation of edge transformation. As the main result, it is shown that multiagent formations modeled by acyclic persistent hybrid graphs can be stabilized locally under distance‐based controllers. [ABSTRACT FROM AUTHOR]
- Published
- 2018
- Full Text
- View/download PDF
5. Distributed attitude and translation consensus for networked rigid bodies based on unit dual quaternion.
- Author
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Wang, Yinqiu and Yu, Changbin
- Subjects
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QUATERNIONS , *RIGID bodies , *TOPOLOGY , *NONLINEAR control theory , *NUMERICAL analysis - Abstract
This paper provides unified solutions for distributed attitude and translation consensus problems for networked fully actuated rigid bodies under the fixed and undirected communication topology with the tool of unit dual quaternion. We investigate two kinds of consensus, that is, leaderless consensus and leader-following consensus with a static leader. Firstly, the dynamics of rigid bodies are presented by unit dual quaternion. The control inputs of rigid bodies are also obtained from unit dual quaternion. Secondly, we propose a distributed consensus law in the form of dual quaternion to guarantee that the attitudes and translations of all rigid bodies reach consensus, respectively, without a leader. Thirdly, the leader-following consensus problem with a static leader is studied. With the proposed leader-following consensus law, the states of all rigid bodies converge to the corresponding states of the static leader, including the attitude and the translation. Finally, numerical examples are provided to validate the effectiveness of the theoretical results. Copyright © 2017 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]
- Published
- 2017
- Full Text
- View/download PDF
6. Evolution of Social Power in Social Networks With Dynamic Topology.
- Author
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Ye, Mengbin, Liu, Ji, Anderson, Brian D. O., Yu, Changbin, and Basar, Tamer
- Subjects
DYNAMIC models ,DISCRETE-time systems ,POWER (Social sciences) ,ASYMPTOTIC controllability ,SOCIAL networks - Abstract
The recently proposed DeGroot–Friedkin model describes the dynamical evolution of individual social power in a social network that holds opinion discussions on a sequence of different issues. This paper revisits that model, and uses nonlinear contraction analysis, among other tools, to establish several novel results. First, we show that for a social network with constant topology, each individual's social power converges to its equilibrium value exponentially fast, whereas previous results only concluded asymptotic convergence. Second, when the network topology is dynamic (i.e., the relative interaction matrix may change between any two successive issues), we show that the initial (perceived) social power of each individual is exponentially forgotten. Specifically, individual social power is dependent only on the dynamic network topology, and initial social power is forgotten as a result of sequential opinion discussion. Finally, we provide an explicit upper bound on an individual's social power as the number of issues discussed tends to infinity; this bound depends only on the network topology. Simulations are provided to illustrate our results. [ABSTRACT FROM AUTHOR]
- Published
- 2018
- Full Text
- View/download PDF
7. An automatic sorting approach of surface bundle based on the shared space curve
- Author
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Yu Changbin, Shen Ying, Biao He, and Zhigang Zhao
- Subjects
Surface bundle ,Surface (mathematics) ,Bundle ,Sorting ,Boundary (topology) ,Triangulation (social science) ,General topology ,Topology ,Interpolation ,Mathematics - Abstract
The construction of the property right volume is an important prerequisite for data management and topology maintenance in 3D cadastre, and the automatic sorting approach of patches is important to construction of the smallest solid. When property right volumes as true 3D objects are constructed, not only ideal situations that closed patches are discrete planes, but also general conditions that property right boundaries are surfaces should be taken into account. So, firstly, conceptual descriptions of boundary surfaces and mathematical expressions of both the shared curve and the cutting plane are proposed based on theory of point-set topology. Secondly, obeying the principle of topological consistency, an automatic sorting approach and corresponding restrictions are put forward by detailed processes about local interpolation of the surface, calculation of the feature polyline, sorting of the cutting plane bundle. Particularly, this paper emphasizes on the method to obtain the feature polyline of the cutting plane taking triangulation interpolation of the surface in Google SketchUp for example. It is hoped that what is discussed in this paper could provide some references for constructing the smallest solid closed by discrete surface patches applied in urban space utilization cases such as 3D cadastre.
- Published
- 2012
8. Exponential consensus of general linear multi-agent systems under directed dynamic topology.
- Author
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Qin, Jiahu and Yu, Changbin (Brad)
- Subjects
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MULTIAGENT systems , *EXPONENTIAL functions , *LINEAR systems , *TOPOLOGY , *MATRICES (Mathematics) , *STOCHASTIC convergence , *INTEGRATORS - Abstract
This paper aims to investigate the consensus control of generic linear multi-agent systems (MASs) under directed dynamic topology. Nonnegative matrix theory, in particular the product properties of infinite row-stochastic matrices, which are widely used for multiple integrator agents, is explored to deal with the convergence analysis of generic linear MASs. It is finally shown that the exponential consensus can be reached under very relaxed conditions, i.e., the directed interaction topology is only required to be repeatedly jointly rooted and the exponentially unstable mode of each individual system is weak enough. Moreover, a least convergence rate and a bound for the unstable mode of the individual agent system, both of which are independent of the switching mode, can be explicitly specified. [ABSTRACT FROM AUTHOR]
- Published
- 2014
- Full Text
- View/download PDF
9. A novel result on cluster consensus control of multiple generic linear agents.
- Author
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Yu, Changbin and Qin, Jiahu
- Abstract
This paper investigates the cluster consensus control for generic linear multi-agent systems (MASs) under directed interaction topology via distributed feedback controller. Focus of this paper is particularly on addressing the following problem which is of both theoretical and practical interests but have not been considered in the existing literature: under what kind of interaction among the clusters can the cluster consensus control be achieved regardless of the magnitude of the coupling strengths among the agents? Directed acyclic interaction topology among the clusters is proved to have this property. Our results are proved to be applicable to tackle similar problem arising in cluster consensus of integrator agents, in which to reach the cluster consensus the interaction topology of each cluster is only required to have a spanning tree. Conditions for guaranteeing the cluster consensus control are presented in terms of purely the structure of the interaction topology and thus are very easy to be verified. [ABSTRACT FROM PUBLISHER]
- Published
- 2012
- Full Text
- View/download PDF
10. Distributed consensus for agents with independent position and velocity interactions.
- Author
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Qin, Jiahu and Yu, Changbin
- Abstract
We consider the consensus for multiple double-integrator agents systems in a general framework that the position and velocity interactions among agents are modeled by independent graphs. Different algorithms are proposed and analyzed for various different settings, including the case without leaders and the case with a virtual leader under fixed position and velocity interaction topologies, as well as the case with a group velocity reference signal under switching velocity interaction. Rigorous convergence analysis are preformed via a combined use of tools from algebraic graph theory, matrix analysis as well as the advanced Lypapunov stability theory. [ABSTRACT FROM PUBLISHER]
- Published
- 2012
11. Topology design for distributed formation control towards optimal convergence rate.
- Author
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Huang, Yu, Changbin, Gusrialdi, Azwirman, and Hirche, Sandra
- Abstract
This paper considers the optimal local leader selection for a leader-first follower minimally persistent formation system. The objective is to maximize the local convergence rate of the followers to the unique equilibrium under small perturbations. Except for the leader and the first follower, every other agent in the system follows exactly two agents called the local leaders and is responsible for maintaining a pair of desired distances from two local leaders. The control algorithm is the linearized form of the decentralized nonlinear control law proposed in our previous work. When the agents are distributed over a rectangular area, the selection of the optimal local leader for each follower is discussed, and it is discovered that the boundary optimality rule applies. The general case when agents distributed over an arbitrary convex domain is further considered based on the matrix perturbation theory. Information of agents in its sensing range is enough for the agent to pick up its optimal local leaders, which allows a distributed implementation of the proposed algorithm. [ABSTRACT FROM PUBLISHER]
- Published
- 2012
12. Leaderless consensus control of dynamical agents under directed interaction topology.
- Author
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Qin, Jiahu, Yu, Changbin, Gao, Huijun, and Wang, Xiangke
- Abstract
This paper investigates the leaderless consensus control problem for a group of agents under fixed or switching directed interaction topology, where each agent is modeled as a generic linear system rather than the single- or double-integrator dynamics. For the case with fixed topology, it is shown that consensus can be reached by assigning an appropriate feedback matrix if the interaction topology has a directed spanning tree; while for the switching case, by imposing the balanced condition on the interaction topology, sufficient conditions are provided for the agents to reach consensus under arbitrary switching signal. Furthermore, the consensus equilibria are specified for both cases. [ABSTRACT FROM PUBLISHER]
- Published
- 2011
- Full Text
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13. Coordination for Linear Multiagent Systems With Dynamic Interaction Topology in the Leader-Following Framework.
- Author
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Qin, Jiahu, Yu, Changbin, and Gao, Huijun
- Subjects
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SWITCHING power supplies , *TOPOLOGY , *LINEAR differential equations , *LINEAR systems , *STOCHASTIC convergence , *SYSTEMS theory - Abstract
This paper considers mainly the leader-following consensus for multiple agents with general linear system dynamics under switching topologies. Three different settings are systematically considered. We first consider the setting that the underlying interaction topologies switch arbitrarily among the possible weakly connected digraphs and then extend it to a more general setting that the weak connectivity of the interaction topologies is kept for some disconnected time intervals with short length due to the communication constraints among agents. Exponentially, consensus control is proved to be achieved, and the convergence rate can be specified as well for both settings in spite of the relaxed conditions on the system dynamics of each individual agent which even allow that each agent has exponentially unstable mode, while for the last case where the weak connectivity is only maintained on the joint of the interaction topologies, consensus control is proved to be achieved when the system matrix of each individual agent satisfies certain stability conditions. [ABSTRACT FROM PUBLISHER]
- Published
- 2014
- Full Text
- View/download PDF
14. Synchronization of identical linear dynamic systems subject to input saturation.
- Author
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Wang, Qingling, Yu, Changbin, and Gao, Huijun
- Subjects
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SYNCHRONIZATION , *LINEAR dynamical systems , *NUMERICAL analysis , *TOPOLOGY , *PARAMETRIC equations , *LYAPUNOV functions - Abstract
Abstract: This paper investigates the synchronization problem for a group of agents with identical linear dynamics subject to input saturation. Two classes of linear systems, asymptotically null controllable with bounded control (ANCBC) systems and double-integrator systems, are studied. For ANCBC systems, it is shown that a linear protocol with the control gain obtained via parametric Lyapunov equations can semiglobally synchronize the undirected topology provided that its augmented directed topology has a spanning tree. For a special case of ANCBC, the double-integrator systems, it is established that if the augmented directed topology has a spanning tree, then in the presence of input saturation, using linear protocols with positive control gains can achieve global synchronization. Two numerical examples are given to demonstrate the effectiveness of the theoretical results. [Copyright &y& Elsevier]
- Published
- 2014
- Full Text
- View/download PDF
15. Cluster consensus control of generic linear multi-agent systems under directed topology with acyclic partition.
- Author
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Qin, Jiahu and Yu, Changbin
- Subjects
- *
MULTIAGENT systems , *LINEAR systems , *CLUSTER analysis (Statistics) , *TOPOLOGY , *PARTITIONS (Mathematics) , *FEEDBACK control systems - Abstract
Abstract: This paper investigates the cluster consensus control for generic linear multi-agent systems (MASs) under directed interaction topology via distributed feedback controller. Focus of this paper is particularly on addressing the following problem which is of both theoretical and practical interests but have not been considered in the existing literature: under what kind of interaction among the clusters can the cluster consensus control be achieved regardless of the magnitudes of the coupling strengths among the agents? Directed acyclic interaction topology among the clusters is proved to have this property. As opposed to the algebraic conditions provided in the existing literature, conditions for guaranteeing the cluster consensus control in this paper are presented in terms of purely the graphic topology conditions and thus are very easy to be verified. [Copyright &y& Elsevier]
- Published
- 2013
- Full Text
- View/download PDF
16. Stationary Consensus of Asynchronous Discrete-Time Second-Order Multi-Agent Systems Under Switching Topology.
- Author
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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
17. On Discrete-Time Convergence for General Linear Multi-Agent Systems Under Dynamic Topology.
- Author
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Qin, Jiahu, Gao, Huijun, and Yu, Changbin
- Subjects
MATRICES (Mathematics) ,MULTIAGENT systems ,INTELLIGENT agents ,STOCHASTIC convergence ,TOPOLOGY - Abstract
This note aims to develop the nonnegative matrix theory, in particular the product properties of infinite row-stochastic matrices, which is widely used for multiple integrator agents, to deal with the convergence analysis of general discrete-time linear multi-agent systems (MASs). With the proposed approach, it is finally shown both theoretically and by simulation that the consensus for all the agents can be reached exponentially fast under relaxed conditions, i.e. the individual uncoupled system is allowed to be strictly unstable (in the discrete-time sense) and it is only required that the joint of the communication topologies has a spanning tree frequently enough. Moreover, a least convergence rate as well as an upper bound for the strictly unstable mode, which are independent of the switching mode of the system, are specified as well. [ABSTRACT FROM PUBLISHER]
- Published
- 2014
- Full Text
- View/download PDF
18. Distributed localization with mixed measurements under switching topologies.
- Author
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Lin, Zhiyun, Han, Tingrui, Zheng, Ronghao, and Yu, Changbin
- Subjects
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DISTRIBUTED computing , *TOPOLOGY , *COMPUTER algorithms , *WIRELESS sensor nodes , *STOCHASTIC convergence - Abstract
This paper investigates the distributed localization problem of sensor networks with mixed measurements. Each node holds a local coordinate system without a common orientation and is capable of measuring only one type of information (either distance, bearing, or relative position) to near-by nodes. Thus, three types of measurements are mixed in the sensor networks. Moreover, the communication topologies in the sensor networks may be time-varying due to unreliable communications. This paper develops a fully distributed algorithm called BCDL (Barycentric Coordinate based Distributed Localization) where each node starts from a random initial guess about its true coordinate and converges to the true coordinate via only local node interactions. The key idea in BCDL is to establish a unified linear equation constraints for the sensor coordinates by using the barycentric coordinates of each node with respect to its neighbors though the sensor nodes may have different types of measurements. Then a distributed iterative algorithm is proposed to solve the linear equations under time-varying communication networks. A necessary and sufficient graphical condition is obtained to ensure global convergence of the distributed algorithm. [ABSTRACT FROM AUTHOR]
- Published
- 2017
- Full Text
- View/download PDF
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