اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدRobust Finite-Time Consensus Subject to Unknown Communication Time Delays Based on Delay-Dependent Criteria
52
0
0.0
(
0
)
تأليف
Maryam Sharifi
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
In this paper, robust finite-time consensus of a group of nonlinear multi-agent systems in the presence of communication time delays is considered. In particular, appropriate delay-dependent strategies which are less conservative are suggested. Sufficient conditions for finite-time consensus in the presence of deterministic and stochastic disturbances are presented. The communication delays dont need to be time invariant, uniform, symmetric, or even known. The only required condition is that all delays satisfy a known upper bound. The consensus algorithm is appropriate for agents with partial access to neighbor agents signals. The Lyapunov-Razumikhin theorem for finite-time convergence is used to prove the results. Simulation results on a group of mobile robot manipulators as the agents of the system are presented.
قيم البحث
اقرأ أيضاً
In this paper, we study delayed regulated state/output synchronization for discrete-time homogeneous and heterogeneous networks of multi-agent systems (MAS) subject to unknown, non-uniform and arbitrarily large communication delays. A delay transform
ation is utilized to transform the original MAS to a new system without delayed states. The proposed scale-free dynamic protocols are developed solely based on agent models and localized information exchange with neighbors such that we do not need any information about the communication networks and the number of agents.
In this paper, we study scale-free state synchronization of discrete-time homogeneous multi-agent systems (MAS) subject to unknown, nonuniform, and arbitrarily large communication delays. The scale-free protocol utilizes localized information exchang
e and is designed solely based on the knowledge of the agents model and does not require any information about the communication network and the size of the network (i.e. number of agents).
Classical distributed estimation scenarios typically assume timely and reliable exchanges of information over the sensor network. This paper, in contrast, considers single time-scale distributed estimation via a sensor network subject to transmission
time-delays. The proposed discrete-time networked estimator consists of two steps: (i) consensus on (delayed) a-priori estimates, and (ii) measurement update. The sensors only share their a-priori estimates with their out-neighbors over (possibly) time-delayed transmission links. The delays are assumed to be fixed over time, heterogeneous, and known. We assume distributed observability instead of local observability, which significantly reduces the communication/sensing loads on sensors. Using the notions of augmented matrices and Kronecker product, the convergence of the proposed estimator over strongly-connected networks is proved for a specific upper-bound on the time-delay.
In this paper, we consider the problem of privacy preservation in the average consensus problem when communication among nodes is quantized. More specifically, we consider a setting where some nodes in the network are curious but not malicious and th
ey try to identify the initial states of other nodes based on the data they receive during their operation (without interfering in the computation in any other way), while some nodes in the network want to ensure that their initial states cannot be inferred exactly by the curious nodes. We propose two privacy-preserving event-triggered quantized average consensus algorithms that can be followed by any node wishing to maintain its privacy and not reveal the initial state it contributes to the average computation. Every node in the network (including the curious nodes) is allowed to execute a privacy-preserving algorithm or its underlying average consensus algorithm. Under certain topological conditions, both algorithms allow the nodes who adopt privacypreserving protocols to preserve the privacy of their initial quantized states and at the same time to obtain, after a finite number of steps, the exact average of the initial states.
This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized information exchange
. It is assumed that all the agents are introspective, meaning that they have access to their own local measurements. Universal linear protocols are proposed for each agent to achieve output synchronizations. Proposed protocols are designed solely based on the agent models using no information about communication graph and the number of agents or other agent models information. Moreover, the protocols can tolerate arbitrarily large input delays.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
