Related Experiment Video
Updated: Jun 4, 2025
06:48
The HoneyComb Paradigm for Research on Collective Human Behavior
Published on: January 19, 2019
9.3K
Event-triggered affine formation of second-order multi-agent systems via complex-valued Laplacian.
Wei Zhu1, Yulan Liang1, Chao Pei1
1Key Laboratory of Intelligent Analysis and Decision on Complex Systems, Chongqing University of Posts and Telecommunications, Chongqing, 400065, China.
ISA Transactions
|December 19, 2024
Summary
This study introduces event-triggered control for multi-agent systems, ensuring desired formations without Zeno-behavior. A dynamic strategy further optimizes resource use in these complex systems.
Area of Science:
- Robotics and Control Systems
- Networked Systems
Background:
- Multi-agent systems require coordinated control for formation tasks.
- Event-triggered control aims to reduce communication load compared to time-triggered methods.
- Directed communication graphs present challenges in decentralized control.
Purpose of the Study:
- To develop event-triggered affine formation control for second-order multi-agent systems.
- To avoid reliance on global information using complex-valued Laplacian.
- To ensure global convergence and desired formation without Zeno-behavior.
Main Methods:
- Utilizing a complex-valued Laplacian for decentralized control.
- Proposing two distinct event-triggered control strategies.
- Analyzing system convergence and formation properties.
- Implementing a dynamic event-triggered strategy for enhanced resource conservation.
Main Results:
- Achieved global convergence and successful formation control.
- Demonstrated the absence of Zeno-behavior in proposed strategies.
- The dynamic event-triggered strategy showed superior communication resource savings.
- Numerical simulations validated the theoretical findings.
Conclusions:
- Event-triggered affine formation control is feasible for second-order multi-agent systems.
- Complex-valued Laplacian effectively handles directed communication graphs.
- The proposed strategies offer efficient and robust formation control.
- Dynamic event-triggered control presents a promising approach for resource optimization.
Related Concept Videos
01:22Second Derivatives and Laplace Operator
1.2K
The first order operators using the del operator include the gradient, divergence and curl. Certain combinations of first order operators on a scalar or vector function yield second order expressions. Second-order expressions play a very important role in mathematics and physics. Some second order expressions include the divergence and curl of a gradient function, the divergence and curl of a curl function, and the gradient of a divergence function.
Consider a scalar function. The curl of its...
Consider a scalar function. The curl of its...
1.2K
01:20Second Order systems I
135
A servo system exemplifies a second-order system, featuring a proportional controller and load elements that ensure the output position aligns with the input position. The relationship between these components is described by a second-order differential equation. Applying the Laplace transform under zero initial conditions yields the transfer function, showing how inputs are converted to outputs in the system.
By reinterpreting the system, one can derive the closed-loop transfer function, which...
By reinterpreting the system, one can derive the closed-loop transfer function, which...
135
01:18Second Order systems II
88
In an underdamped second-order system, where the damping ratio ζ is between 0 and 1, a unit-step input results in a transfer function that, when transformed using the inverse Laplace method, reveals the output response. The output exhibits a damped sinusoidal oscillation, and the difference between the input and output is termed the error signal. This error signal also demonstrates damped oscillatory behavior. Eventually, as the system reaches a steady state, the error diminishes to zero.
88
01:05Collisions in Multiple Dimensions: Introduction
4.8K
It is far more common for collisions to occur in two dimensions; that is, the initial velocity vectors are neither parallel nor antiparallel to each other. Let's see what complications arise from this. The first idea is that momentum is a vector. Like all vectors, it can be expressed as a sum of perpendicular components (usually, though not always, an x-component and a y-component, and a z-component if necessary). Thus, when the statement of conservation of momentum is written for a...
4.8K
01:22Multi-input and Multi-variable systems
96
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
In the absence...
96
01:21First Order Systems
83
First-order systems, such as RC circuits, are foundational in understanding dynamic systems due to their straightforward input-output relationship. Analyzing their responses to different input functions under zero initial conditions reveals significant insights into system behavior.
When a first-order system is subjected to a unit-step input, its response is characterized by its transfer function. By applying the Laplace transform of the unit-step input to the transfer function, expanding the...
When a first-order system is subjected to a unit-step input, its response is characterized by its transfer function. By applying the Laplace transform of the unit-step input to the transfer function, expanding the...
83