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Sabir Djaidja,Qinghe Wu 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
This paper proposes a leader-following consensus control for continuous-time single-integrator multiagentsystems with multiplicative measurement noises and time-delays under directed fixed topologies. Each agentin the team receives imprecise information states corrupted by noises from its neighbours and from the leader; thesenoises are depending on the agents’ relative states information. Moreover, the information states received are alsodelayed by constant or time-varying delays. An analysis framework based on graph theory and stochastic toolsis followed to derive conditions under which the tracking consensus of a constant reference is achieved in meansquare. The effectiveness of the proposed algorithms is proved through some simulation examples.
Leader-following Consensus of Double-integrator Multi-agent Systems with Noisy Measurements
Sabir Djaidja,Qing He Wu,Hao Fang 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.1
This paper proposes a leader-following consensus control for continuous-time doubleintegrator multi-agent systems in noisy communication environment with a constant velocity reference state. Each follower in the team inaccurately measures its neighbors’ positions and the leader’s position if this follower has access to the leader, that the measured positions are corrupted by noises. The constant velocity of the leader is a priori well known. The consensus protocol is constructed based on algebraic graph theory and some stochastic tools. Conditions to ensure the tracking consensus in mean square are derived for both fixed and switching directed topologies. Finally, to illustrate the approach presented, some numerical simulations are carried out.