Please use this identifier to cite or link to this item: http://dlib.scu.ac.ir/handle/Hannan/181518
Title: Unified Generic Geometric-Decompositions for Consensus or Flocking Systems of Cooperative Agents and Fast Recalculations of Decomposed Subsystems Under Topology-Adjustments
Authors: Wei Li
subject: geometric projection|Consensus|topology adjustment|partition|flocking|cooperative control|decomposition|formation
Year: 2016
Publisher: IEEE
Abstract: This paper considers a unified geometric projection approach for: 1) decomposing a general system of cooperative agents coupled via Laplacian matrices or stochastic matrices and 2) deriving a centroid-subsystem and many shape-subsystems, where each shape-subsystem has the distinct properties (e.g., preservation of formation and stability of the original system, sufficiently simple structures and explicit formation evolution of agents, and decoupling from the centroid-subsystem) which will facilitate subsequent analyses. Particularly, this paper provides an additional merit of the approach: considering adjustments of coupling topologies of agents which frequently occur in system design (e.g., to add or remove an edge, to move an edge to a new place, and to change the weight of an edge), the corresponding new shape-subsystems can be derived by a few simple computations merely from the old shape-subsystems and without referring to the original system, which will provide further convenience for analysis and flexibility of choice. Finally, such fast recalculations of new subsystems under topology adjustments are provided with examples.
URI: http://localhost/handle/Hannan/181518
ISSN: 2168-2267
2168-2275
volume: 46
issue: 6
More Information: 1463
1470
Appears in Collections:2016

Files in This Item:
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Title: Unified Generic Geometric-Decompositions for Consensus or Flocking Systems of Cooperative Agents and Fast Recalculations of Decomposed Subsystems Under Topology-Adjustments
Authors: Wei Li
subject: geometric projection|Consensus|topology adjustment|partition|flocking|cooperative control|decomposition|formation
Year: 2016
Publisher: IEEE
Abstract: This paper considers a unified geometric projection approach for: 1) decomposing a general system of cooperative agents coupled via Laplacian matrices or stochastic matrices and 2) deriving a centroid-subsystem and many shape-subsystems, where each shape-subsystem has the distinct properties (e.g., preservation of formation and stability of the original system, sufficiently simple structures and explicit formation evolution of agents, and decoupling from the centroid-subsystem) which will facilitate subsequent analyses. Particularly, this paper provides an additional merit of the approach: considering adjustments of coupling topologies of agents which frequently occur in system design (e.g., to add or remove an edge, to move an edge to a new place, and to change the weight of an edge), the corresponding new shape-subsystems can be derived by a few simple computations merely from the old shape-subsystems and without referring to the original system, which will provide further convenience for analysis and flexibility of choice. Finally, such fast recalculations of new subsystems under topology adjustments are provided with examples.
URI: http://localhost/handle/Hannan/181518
ISSN: 2168-2267
2168-2275
volume: 46
issue: 6
More Information: 1463
1470
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7422099.pdf183.05 kBAdobe PDFThumbnail
Preview File
Title: Unified Generic Geometric-Decompositions for Consensus or Flocking Systems of Cooperative Agents and Fast Recalculations of Decomposed Subsystems Under Topology-Adjustments
Authors: Wei Li
subject: geometric projection|Consensus|topology adjustment|partition|flocking|cooperative control|decomposition|formation
Year: 2016
Publisher: IEEE
Abstract: This paper considers a unified geometric projection approach for: 1) decomposing a general system of cooperative agents coupled via Laplacian matrices or stochastic matrices and 2) deriving a centroid-subsystem and many shape-subsystems, where each shape-subsystem has the distinct properties (e.g., preservation of formation and stability of the original system, sufficiently simple structures and explicit formation evolution of agents, and decoupling from the centroid-subsystem) which will facilitate subsequent analyses. Particularly, this paper provides an additional merit of the approach: considering adjustments of coupling topologies of agents which frequently occur in system design (e.g., to add or remove an edge, to move an edge to a new place, and to change the weight of an edge), the corresponding new shape-subsystems can be derived by a few simple computations merely from the old shape-subsystems and without referring to the original system, which will provide further convenience for analysis and flexibility of choice. Finally, such fast recalculations of new subsystems under topology adjustments are provided with examples.
URI: http://localhost/handle/Hannan/181518
ISSN: 2168-2267
2168-2275
volume: 46
issue: 6
More Information: 1463
1470
Appears in Collections:2016

Files in This Item:
File Description SizeFormat 
7422099.pdf183.05 kBAdobe PDFThumbnail
Preview File