Leader-following consensus control for Markovian switching multi-agent systems with interval time-varying delays

Park, M. J.; Kwon, Oh‐Min; Park, Ju H.; Lee, S. M.; Cha, E. J.; Lee, Tae Hee

doi:10.1109/ascc.2013.6606372

Cited by 4 publications

(8 citation statements)

References 26 publications

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“…It can be seen that each state of the formation can also converge stably. However, it can be seen from the comparison that the convergence time of the controller in [13] is about 100 s slower, and the input amplitude of the controller is also larger than that of the controller in this article. As can be seen from Figure 19, the velocity in the v-direction becomes smoother after 800 s due to the fixed topology.…”

Section: Simulation Resultsmentioning

confidence: 66%

“…The thrust and rudder angle of the AUV can converge in about 300 s. Because the maximum thrust of this AUV is 1000 N, and the maximum rudder angle is 35°, the input is actually saturated, which is consistent with the actual engineering situation, but is also an important factor to limit the convergence time of the AUV. To verify the performance of the designed PD controller, the following simulations were performed using the controller in [13] as the input for the follower second-order integral model. The initial states and delay parameters of the AUV formation were the same as the values in Figures 6-9, and the state of the Markov transformation topology was also the same as that in the Figure 2.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Figures 17-20 show the position and velocity states of the AUV formation using the controller in [13], corresponding to Figures 6-9, respectively. It can be seen that each state of the formation can also converge stably.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…In [8][9][10]12], the actual kinematic and dynamic models of multiple agents are not considered-the authors propose only abstract concepts. Park et al [13] carried out consensus analysis and control of multi-agent systems with time-varying delays and Markovian switching interconnection topology via construction of a suitable Lyapunov-Krasovskii functional and utilization of a reciprocally convex approach. However, its dynamic performance needed to be improved, and multi-agent modeling was not carried out.…”

Section: Introductionmentioning

confidence: 99%

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AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Zhang

Chen

et al. 2022

JMSE

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Aiming at the control problem of autonomous underwater vehicle (AUV) pilot-following formation with communication delay and communication interruption, a controller based on feedback linearization and the PD control method is designed in this paper. Firstly, the nonlinear, strongly coupled vehicle model is transformed into a second-order model via the feedback linearization method, and then the formation coordination controller is designed based on consistency theory and the PD control method. The Markov random jump process is used to simulate the formation topology in the event of communication interruption. The condition of stable convergence of the AUV pilot-following formation is analyzed in the presence of time-varying delay and Markov transformation topology. A Lyapunov–Krasovskii equation is established, and linear matrix inequality (LMI) is used to solve the problem of communication interruption and communication delay. The boundary conditions of error convergence of the control system are obtained. Finally, the effectiveness of the formation coordination controller based on the second-order integral model under the unstable conditions of underwater acoustic communication is verified by simulation.

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Section: Simulation Resultsmentioning

confidence: 66%

Section: Simulation Resultsmentioning

confidence: 99%

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Zhang

Chen

et al. 2022

JMSE

View full text Add to dashboard Cite

show abstract

“…Some articles analyze the consistency of time-delay systems under joint connected topology graphs (Peng and Jia, 2011;Ma et al, 2020). Park et al (2013) obtains the stability condition of the delay-dependent linear matrix inequality of the leader-follower under the Markov switching topology (Park et al, 2013). In the latest research results, Guo and Chen (2018) proposes a convex optimization condition for a time-delayed switching topology multi-agent system based on distributed zero gradients and frameworks.…”

Section: Introductionmentioning

confidence: 99%

Predictive control strategy for multi-agent relay tracking systems with time delays

Dong

Wei

2021

Transactions of the Institute of Measurement and Control

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This paper investigates the multi-agent systems for target tracking applications, in which the target is cooperatively relay tracked by multiple agents based on the Voronoi diagram. The relay tracking scheme is effective and reduces the tracking time of a target. However, the existence of time delays results in inaccurate determination of boundaries of Voronoi cells. Thus, the replacement of tracking agent is no longer optimal, which consequently affects the tracking time. In order to solve this issue, a predictive controller is proposed for the relay tracking system with time delays. Moreover, the boundaries of Voronoi cells are determined with the predictive values of agents’ information. In order to analyze the stability of the system, an impulse-time-dependent Lyapunov function is designed. Then, the orthogonal polynomials based inequality is applied and the average dwell time switching technique is adopted to solve the difficulty of stability analysis of the overall relay tracking system caused by the agent replacements of time-delay agents. Finally, the effectiveness and advantages of the proposed predictive control method for relay target tracking system with time delays are illustrated by comparative simulations.

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Network-based leader-following consensus of multi-agent systems with variable topological structures and nonlinear dynamics

Zhang

2014

Proceedings of the 33rd Chinese Control Conference

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Leader-following consensus control for Markovian switching multi-agent systems with interval time-varying delays

Cited by 4 publications

References 26 publications

AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

AUV Formation Coordination Control Based on Transformed Topology under Time-Varying Delay and Communication Interruption

Predictive control strategy for multi-agent relay tracking systems with time delays

Network-based leader-following consensus of multi-agent systems with variable topological structures and nonlinear dynamics

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