Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control

Name: Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control | Swarm Guidance Technologies
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Swarm Guidance Technologies

Guo-Ping Jiang Mengyi Wang Zhang Ren(Editor)

Springer (Publisher)

1st Edition

Published on 11. July 2024

X, 663 pages

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978-981-97-3340-8 (ISBN)

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Guoping Jiang is with the Colloege of Automation & Colloege of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China.

Guoping Jiang was born in Yangzhong, Jiangsu Province, China in 1966. He received the B.S. degrees in power-system automation from Hohai University, Nanjing, Jiangsu Province, in 1988 and the Ph.D. degree in theory and application of automatic control from Southeast University, Nanjing, Jiangsu Province, in 1997. He worked as an instructor in the Department of Electronic Engineering of NUPT in 1997 and moved up to an associate professor in 1999, acting as a master supervisor later the same year. In 2003, he got a fast-track promotion to a full professorship and later served as Ph.D. supervisor in 2006.

He has worked for many years on Chaotic System Control and its application in communications and information systems, the propagation model of network virus and rumor and control methods ofthem, and complex network control and fault diagnosis. In recent years, he has presided over and completed nearly 20 research projects funded by state and provinces and been working on another three; published over 130 research papers, over 100 of which were included in SCI. Besides, he owns more than 20 patents of invention and reaps 5 awards in science and technology presented by provincial authorities.

Mengyi Wang is with the School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.

Mengyi Wang is currently a Senior Researcher with of Beijing Institute of Electronic System Engineering. His research interests include unmanned aerial vehicle navigation guidance and control systems, unmanned autonomous control systems, and multi aircraft formation collaborative control systems.

Zhang Ren is with the School of Automation Scienceand Electrical Engineering, Beihang University, Beijing 100191, China.

Zhang Ren is currently a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include distributed control, optimization, and game for multi-agent systems, unmanned aerial vehicle navigation guidance and control systems.

Content

Intro
Contents
Scalable Intent Recognition in Wargame Using Transformer
1 Introduction
2 Related Work
3 Proposed Model
3.1 Long Sequential Dimension Reduction of Behavioral Data
3.2 Overall Network Architecture
4 Simulation and Analysis
4.1 Dataset
4.2 Data Dimension Reduction Method
4.3 Loss Functions
4.4 Network Structures
5 Conclusion
References
Cooperative Guidance Law with Prescribed-Time Convergence for Maneuvering Target
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Preliminaries
2.2 Problem Formulation
3 Main Result
3.1 LOS Direction
3.2 Normal LOS Direction
4 Numerical Simulations
5 Conclusion
References
Network-Based Fast Analysis Method for Aircraft Reachable Area
1 Introduction
2 Problem Description
3 Neural Network-Based Fast Analysis Method for Aircraft Reachable Area
3.1 Fast Generation Method of Track Sample Set Based on Dichotomy [6] and Virtual Terminal
3.2 Design of Intelligent Model [8] for Rapid Analysis of Aircraft Accessibility Zone
4 Simulation Analysis of Fast Analysis Method for Aircraft Reachable Area Based on Neural Network
5 Conclusion
References
Research on the Forward-Looking Imaging Capability of Heterogeneous Bistatic SAR Platforms at Different Speeds
1 Introduction
2 Bistatic SAR Imaging Model
2.1 Geometric Configuration
2.2 Range and Doppler Model
2.3 Resolution Model
3 Imaging Capability in Typical Motion States
3.1 Simulation in Typical States
3.2 Simulation Results Analysis
4 Influence of Velocity on Imaging Capability
4.1 Simulation Results
4.2 Analysis of Simulation Results
4.3 Analysis of Doppler Contours
5 Conclusion
References
Secure Implementation of Distributed Control for Multiple Spacecraft Against Malicious Eavesdropping Attacks
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Notations
2.2 Paillier Cryptosystem
2.3 Encoder and Decoder
2.4 Relative Motion Model and Communication Network of SFF
2.5 Problem Formulation
3 Secure Implementation of Distributed Control Scheme
3.1 Formation-Keeping Distributed Control Scheme Design
3.2 Encoding
3.3 Encrypted Distributed Control Scheme
4 Simulation Results
5 Conclusion
References
Relationship Between Impact Time Constrained Nonlinear Optimal Guidance and Euler Beam Deformation
1 Introduction
2 Preliminaries
2.1 Impact Time Constrained Optimal Guidance
2.2 Euler Beam Deformation
3 Equivalence Analysis Between ITCNOG and Euler Beam Deformation
3.1 Comparison of Differential Equations
3.2 Comparison of Boundary Conditions
3.3 Comparison of Optimal Indicators
3.4 Transformation of the Two Problems
4 Problems Solving and Verification
4.1 Problem Solving
4.2 Comparison with Linear Optimal Guidance Law
5 Extension to the ITACNOG Problem
6 Conclusion
References
Online Target Assignment Method for Aircraft Cluster Based on Prior Information Guidance
1 Introduction
2 Problem Modeling
3 Deep Reinforcement Learning-Based Approach to Goal Assignment Decision Making
4 Simulation Testing and Analysis
5 Simulation Testing and Analysis
References
Review of Maneuvering Strategies in the Level Flight Section of UAV
1 Introduction
2 Procedural Maneuver
2.1 Sinusoidal Maneuver
2.2 Square Wave Maneuver
2.3 Spiral Maneuver
2.4 Tilting Maneuver
3 Active Maneuver
3.1 Differential Game Maneuver
3.2 Matrix Game Maneuver
3.3 Reinforcement Learning-Based Maneuver
4 Conclusion
References
Formation Control Method of High Speed Aircraft Considering Natural Velocity Attenuation
1 Introduction
2 Formation Flight Model of High-Speed Aircraft ay
3 Design of Formation Controller for High Speed Aircraft
3.1 Horizontal Position Tracking Subsystem
3.2 Course Position Coordination Subsystem
3.3 Height-Limited Subsystem
4 Numerical Simulation
5 Conclusion
References
Leader-Follower Estimation and Cooperative Guidance with Incomplete Information
1 Introduction
2 Problem Statement
3 Leader-Follower Estimation Algorithm Design
3.1 State and Measurement Equations
3.2 Leader-Follower Estimation Algorithm
4 Cooperative Guidance Law Design
4.1 Leader: Optimal Impact-Angle-Constrained Guidance Law
4.2 Followers: Time-Consensus Cooperative Guidance Law
5 Numerical Simulations
6 Conclusion
References
High-Speed and Maneuverable Target Cooperative Encirclement Strategy Based on Apollonius Ellipsoids
1 Introduction
2 Encirclement Space Modeling
2.1 Cooperative Encirclement Modeling Based on Apollonius Ellipsoids
2.2 Formation Design Based on Redundant Coverage
3 Algorithm Design
4 Performance Evaluation
5 Conclusions
References
Safety-Critical Defensive Guidance of Autonomous Surface Vehicles for Domain Protection
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Notation
2.2 Stochastic Input-to-State Stability
2.3 Problem Formulation
3 Design and Analysis
3.1 Defensive Matching
3.2 Defensive Guidance
3.3 Defensive Safety-Critical Optimization
4 Simulations
5 Conclusion
References
Cooperative Salvo Attack Guidance Law Based on Predefined-Time Convergent Error Dynamics
1 Introduction
2 Preliminary
2.1 Problem Formulation
2.2 Predefined-Time Convergent Control Law
2.3 Prerequisite Lemma
3 Cooperative Salvo Attack Guidance Law
3.1 Design Strategy
3.2 Cooperative Guidance Law
4 Numerical Simulation
5 Conclusion
References
Event-Triggered Adaptive Consensus Tracking Control of Uncertain Nonlinear Multi-agent Systems with Uniformly Positive Inter-Event Times
1 Introduction
2 Problem Formulation
2.1 System Model
2.2 Graph Theory and Notations
2.3 The Objective
3 Controllers Design
3.1 Data Collection
3.2 Triggering Conditions
3.3 Design of Adaptive Controllers
4 Analysis of Stability, Consensus and Inter-event Times
5 Simulation
6 Conclusion
References
Fuzzy Secured Formation Control for Strict-Feedback Multi-agent Systems Under DoS Attacks
1 Introduction
2 System Description and Preliminaries
2.1 System Description
2.2 Graph Theory
2.3 DoS Attacks
2.4 Fuzzy Logic Systems
3 Circular Switching Filter Design
4 Fuzzy Secured Formation Control Scheme
5 Stability Analysis
6 Simulation
7 Conclusion
References
Resilient Output Control of Nonlinear Multi-agent Systems with Unknown Control Directions Under Byzantine Attacks
1 Introduction
2 Problem Formulation and Preliminaries
2.1 System Model
2.2 Graph Theory
2.3 Attack Model
3 State Observer Design
4 Resilient Controller Design and Stability Analysis
5 Simulation Results
6 Conclusions
References
Safe Corridor Constrained Trajectory Planning for Formation Flight of Fixed-Wing Unmanned Aerial Vehicles
1 Introduction
2 Overview
3 Safe Corridor Construction
4 Trajectory Optimization for Formation Flight
5 Simulations
6 Conclusion
References
Terrain-Based Hierarchical Trajectory Planning for Low-Altitude Flight of Fixed-Wing Aircrafts
1 Introduction
2 Overview
3 Sampling-Based Global Path Finding
4 Polynomial Based Trajectory Optimization
5 Simulations
6 Conclusion
References
Modeling and Verification on Functional Safety and Fault Diagnosis for High-Speed Railways
1 Introduction
2 Hierarchical Modeling of CTCS-3 Operation Scenario
2.1 Structure of CTCS-3 and Relevant Operation Scenario
2.2 Hierarchical Modeling CTCS-3 Operation Scenarios
3 Hierarchical Model of Level Transition Scenario
3.1 Description of the Level Transition
3.2 Description of the Process of Building Level Transition Model
4 Analysis and Verification of the Hierarchical Model
4.1 Model Analysis
4.2 Model Verification
5 Conclusion
References
Inspection Area Allocation for Forest Surveillance Based on Different Starting Points of Multi-UAVs
1 Introduction
2 Overall Structure of the Proposed Inspection Area Allocation Method
3 Inspection Area Division for Different UAVs
4 Boundary Line Generation for Subregions
5 Simulation Results and Analysis
6 Conclusion
References
Enhancing Exploration Efficiency of Fixed-Wing UAVs Through Intelligent Decision-Making and Advanced Control Integration
1 Introduction
2 Problem Statement
2.1 Methodology and Approach
2.2 Fixed-Wing UAV Dynamics
3 Decision and Planning Based on Dyna-Q Learning
3.1 Dyna-Q Learning
3.2 Optimal Trajectory-Driven Bidding Strategy
3.3 Multi Feasibility Trajectory Generation
4 Multi-MPC Control
5 Simulation Experiment
5.1 Introduction to the Simulation Platform
5.2 Algorithm Validation on the Tomato Platform
6 Conclusion
References
Affine Formation Tracking Control of Multi-UAVs Based on Sliding Mode Technique
1 Introduction
2 Preliminaries and Problem Fornulation
2.1 Some Preliminaries
2.2 Problem Formulation
3 Affine Formation Tracking Control
3.1 Affine Formation Maneuver Control
3.2 Sliding Mode Control-Based Controller Design
4 Simulation
5 Conclusions
References
An Algorithm for Accessible Area of Space Agent
1 Introduction
2 Problem Formulation
2.1 Accessible Area Description
2.2 Dynamic Equations
2.3 Initial and Terminal Circular Orbits
2.4 Returning Orbit
2.5 Initial Conditions for Entry
2.6 Exit and Outgoing Orbit
3 Optimization Algorithm for Accessible Area
3.1 Objective Functions
3.2 Initial and Terminal Conditions
3.3 Path Constraints
3.4 Course Connecting Constraints
3.5 Optimization Algorithm
4 Simulation Results
5 Conclusion
References
Multi-targets Formation Tracking for Lipschitz-Type Nonlinear Systems via Event-Triggered Scheme
1 Introduction
2 Preliminaries and Problem Formulation
2.1 Graph Theory
2.2 Problem Formulation
2.3 Useful Lemmas
3 Main Results
4 Simulations
5 Conclusions
References
Fixed-Time Leader-Follower Consensus for Multi-agent Systems Under Event-Triggered Mechanism
1 Introduction
2 Preliminaries and Problem Formulation
3 Main Results
4 Numerical Example
5 Conclusions
References
Prescribed-Time Tracking Consensus for Second-Order Nonlinear Multi-agent Systems via Sliding Mode Control Under Directed Topology
1 Introduction
2 Model Formulations and Preliminaries
3 Main Results
4 Numerical Example
5 Conclusions
References
Bearing-Based Containment Control of Multi-agent Systems with Disturbances
1 Introduction
2 Problem Formulation
3 Main Results
4 Numerical Examples
5 Conclusions
References
A Full-Form Dynamic Linearization Data Model-Based Model-Free Adaptive Formation Control Method for Nonlinear Multi-agents
1 Introduction
2 Preliminaries
2.1 System Model
2.2 Graph Theory
3 Main Result
4 Simulation
5 Conclusion
References
Time-and-Angle-Constrained Cooperative Guidance Based on Reinforcement Learning
1 Introduction
2 Engagement Geometry
3 Design of Cooperative Guidance Law
3.1 Time-Constrained Guidance Law
3.2 Angle-Constrained Guidance Law
3.3 Cooperative Time and Angle
3.4 Time-and-Angle-Constrained Cooperative Guidance Law
4 Coefficient Optimization Based on Reinforcement Learning
4.1 Observation Variable
4.2 Network Structure
4.3 Reward
5 Training and Simulation
5.1 Training Process of Agents
5.2 Simulation of Cooperative Guidance
6 Conclusions
References
UAV Formation Cooperative Control Based on Consistency Theory
1 Introduction
2 Mathematical Modeling
2.1 UAV Control Modeling
2.2 Distributed Architecture
3 Control Algorithm Design
3.1 Position Co-controller Design
3.2 Attitude Tracking Controller Design
4 Simulation Analysis
5 Conclusion
References
Low-Light Image Enhancement Method for Consistency Judgment of Multi-view Multi-target for UAV Swarm
1 Introduction
2 Related Work
3 Improvement Strategies
3.1 Sobel Convolution
3.2 Residual Contextual Block
3.3 Bias-Enhanced Loss Function
4 Results
5 Conclusion
References
Guaranteed Performance Cooperative Formation Control for Nonlinear Multi-agent Systems with Application to Multiple QUAVs
1 Introduction
2 Problem Statements and Preliminaries
2.1 Communication Graph
2.2 Problem Formulation
2.3 Finite-Time Performance Function
3 Main Results
3.1 Finite-Time Formation Controller Design
3.2 Stability Analysis
4 Simulation Results
5 Conclusions
References
Integral Reinforcement Learning-Based Guidance Law Design Against Maneuvering Target with Constrained Input
1 Introduction
2 Problem Formulation
3 Integral Reinforcement Learning Based Guidance Law
3.1 Cost Function Approximation
3.2 IRL-Based Guidance Law
3.3 Convergence Analysis
4 Numerical Simulation
5 Conclusion
References
Bipartite Formation Control for Linear Multi-agent Systems with External Disturbances via Observer-Based Output Feedback
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Problem Description
3 Observer-Based Output Feedback Design
4 Robustness Analysis
5 Numerical Simulation
6 Conclusion
References
Online Terrain Following Scheme Combining Cubic Spline and Model Predictive Control
1 Introduction
2 Control System Structure
3 Online Terrain Detection and Path Planning
4 Model Predictive Control for Path Tracking
4.1 Path Tracking Evaluation
4.2 MPC Controller Design
5 Simulation Results and Analysis
6 Conclusions
References
Cooperative Formation Control of Fixed-Wing UAV Based on L1 Guidance Law Considering Collision Avoidance
1 Introduction
2 Preliminaries and Problem Statement
2.1 Basic Assumptions
2.2 Problem Statement
3 Main Results
3.1 Trajectory Tracking Based on L1 Method
3.2 Design of Collision Avoidance Control Strategy
3.3 Design of Formation Control Law
4 Numerical Simulation
5 Conclusion
References
Review on Technology of Cooperative Flight for Low-Altitude Unmanned Aerial Swarms
1 Introduction
2 Aerial Swarms Cooperative Flight Based on Trajectory Planning
2.1 UAV Trajectory Planning
2.2 Aerial Swarms Cooperative Trajectory Planning
3 Aerial Swarms Cooperative Flight Based on Formation Control
3.1 Leader-Follower Method
3.2 Behavior-Based Method
3.3 Virtual Structure Method
3.4 Consistency Theory Method
4 Aerial Swarms Cooperative Flight Based on Cluster Control
4.1 Vector Field Method
4.2 Barrier Control Function Method
5 Comparison and Problems Analysis
6 Conclusion and Future Work
References
Distributed Fault-Tolerant Tracking Control of Multi-agent Systems Against DoS Attacks
1 Introduction
2 Preliminary and Problem Formulation
2.1 Graph Theory
2.2 Agent Model
3 Main Results
3.1 Distributed DoS-Attack-Defense Controller Design
3.2 Fault-Tolerant Controller Design
4 Simulation
5 Conclusion
References
Distributed Adaptive Learning Control for Trajectory Tracking of Networked Robot Manipulators
1 Introduction
2 Preliminaries
2.1 Graph Theory
2.2 Dynamics of Robot Manipulators
3 Problem Formulation
4 Main Results
5 Simulation Verification
6 Conclusions
References
Adaptive Finite-Time Control for High-Order Stochastic Nonlinear Systems with Unknown Covariance Noise
1 Introduction
2 Preliminaries
3 Finite-Time Stabilization of Two-Dimensional High-Order Stochastic Nonlinear Systems
3.1 Adaptive Control Design
3.2 Stability Analysis
4 Finite-Time Stabilization of Three-Dimensional High-Order Stochastic Nonlinear Systems
5 Conclusion
References
Dynamic Performance Analysis and Control System Design of All-Electric Servo Bending Machine Based on Torsion Shaft Mechanism
1 Introduction
2 Structure and Working Principle of Bending Machine
3 Kinematic Analysis
3.1 Mathematics Modeling
3.2 Kinematics Simulation
4 Dynamic Simulation Analysis
5 Experiment
5.1 Experimental Platform Construction
5.2 Results and Discussion
6 Conclusion
References
Cooperative Attack Algorithm for UAV Swarm System Under Spatiotemporal Constraints
1 Introduction
2 UAV Swarm System Modeling
3 Problem Description
4 Design of Cooperative Attack Algorithm Under Spatiotemporal Constraints
4.1 Cooperative Attack Strategy with Spatiotemporal Constraints Based on Virtual Guidance Points
4.2 Cooperative Path Planning Based on APF
4.3 Tracking Strategy Based on MPC Method
5 Numerical Simulations
6 Conclusion
References
Attitude Control of Variable Exponential Fixed-Time QUAV Based on State Dependent Variables
1 Introduction
2 Preliminaries
2.1 The Dynamic Model of QUAV
2.2 Some Lemmas
3 Main Result
3.1 State Dependent Variable Variable Index
3.2 Application to QUAV
4 Numerical Simulation
5 Conclusion
References
Prescribed-Time Consensus for Second-Order Multi-agent Systems Based on Barried Lyapunov Function
1 Introduction
2 Preliminaries
2.1 Graphy Theory
2.2 Problem Formulation
2.3 Some Lemmas
3 Main Result
3.1 Design of Symmetric Constrained Controller
3.2 Design of Asymmetric Constrained Controller
4 Numerical Simulation
5 Conclusion
References
Distributed Simultaneous Cooperative Guidance for Attacking a Maneuvering Target
1 Introduction
2 Preliminaries and Problem Description
2.1 Algebraic Graph Theory
2.2 Key Lemma
2.3 Guidance Model
2.4 Time-to-Go Estimate
3 Main Results
3.1 Fixed-Time Disturbance Observer Design
3.2 Distributed Simultaneous Cooperative Guidance Law Design
4 Numerical Simulation
5 Conclusion
References
Effect of Coupling Coefficient on Robustness of Controlling Network Systems
1 Introduction
2 Controlling Network Systems
3 Robustness
4 Effect of Coupling Coefficient on Robustness
5 Limiting Cases
6 Conclusions
References
An Analysis Method of Terminal Entry Angle Capability Based on Rapid High-Speed Maneuvering Trajectory Planning
1 Introduction
2 High-Speed Dynamics and Constraints Modeling
2.1 High-Speed Dynamics Modeling
2.2 High-Speed Constraints Modeling
3 A Fast Trajectory Planning Method for High-Speed Vehicle with Terminal Entry Angle Constraints Based on Maneuver Coefficient
3.1 Design of Flight Corridors
3.2 Definition of Maneuver Coefficient
3.3 Longitudinal Trajectory Planning
3.4 Three-Dimensional Trajectory Planning
4 Analysis of Terminal Entry Angle Capability and Simulation
4.1 Maneuver Trajectories Under Typical Task
4.2 Maneuver Trajectories Under Different Remaining Range Tasks
5 Conclusion
References
An Improved Kalman Filter Based on Empirical Mode Decomposition for INS/CNS Navigation
1 Introduction
2 Improved Kalman Filter Based on Empirical Mode Decomposition
2.1 Empirical Mode Decomposition
2.2 The Proposed Algorithm
3 Simulation and Analysis
4 Conclusions
References
Finite-Time Consensus with Asynchronous Sampling Measurement
1 Introduction
2 Preliminaries
2.1 Notation
2.2 Graph Theory
2.3 Useful Lemmas
3 Main Result
4 Simulation
5 Conclusion
References
Guidance Strategy for Hypersonic Glide Vehicle with Additional Angular Error Approach
1 Introduction
2 HGV Dynamic Model
3 HGV Glide Phase Guidance Law
3.1 Glide Phase Longitudinal Guidance Law
3.2 Glide Phase Lateral Guidance Law Under Angle Constraints
3.3 Glide Phase Lateral Guidance Law Under Time Constraints
4 Simulation
4.1 Simulation of Glide Phase Lateral Guidance Law Under Angle Constraints
4.2 Simulation of Glide Phase Lateral Guidance Law Under Time Constraints
5 Conclusion
References
Modular Design and Implementation of Formation Motion Planning System for Multi-unmanned Vehicles
1 Introduction
2 System Architecture
3 Module Introduction
3.1 Path Planning Module
3.2 Formation Control Module
3.3 Communication Module
4 Simulation
4.1 Task Description
4.2 Simulation Results
5 Conclusion
References
An Observer-Based Anti-unwinding Attitude Control Method for Flexible Spacecraft
1 Introduction
2 Problem Formulation
2.1 Attitude Control System Model
2.2 Control Objective
3 Attitude Controller
3.1 Controller Design
3.2 Stability Analysis
4 Simulation Results
4.1 Simulation Setup
4.2 Simulation Results
5 Conclusion
References
Event-Triggered Decentralized Model Predictive Control for Low-Speed Two-Stroke Marine Main Engine Power Systems
1 Introduction
2 Problem Formulation
3 Decentralized MPC Scheme Based on Event-Trigger
3.1 Time-Triggered Decentralized MPC Algorithm
3.2 Event-Triggered Decentralized MPC Algorithm
4 Simulation
4.1 Parameter Setting
4.2 Result Analysis
5 Conclusion
References
Robust Self-Organizing Sliding-Mode Control with Disturbance Observer for WWTPs
1 Introduction
2 Problem Formulation
3 Robust Self-Organizing Sliding-Mode Control with Disturbance Observer
3.1 The Fuzzy Neural Network
3.2 The Structure Self-Organizing Algorithm
3.3 Disturbance Observer-Based Parameter Updating Algorithm
3.4 Stability Analysis
4 Simulations Results
5 Conclusion
References
Formation Control of Second-Order Nonholonomic Systems with a Novel Model-Based Event-Triggered Mechanism
1 Introduction
2 Preliminaries
3 Problem Formulation
4 Event-Triggered Mechanisms Based on Polynomial Interpolation Predictive Model
4.1 Design of Fourth-Order Interpolation Functions
4.2 Design of Event-Triggered Mechanisms
5 Main Results
6 Simulation
7 Conclusions
References
Consensus in Second-Order MAS with Different and Multiple Coupling Weights
1 Introduction
2 Problem Model and Preliminaries
3 Consensus in SOMAS with Different Coupling Matrices
4 Consensus in SOMAS with Multiple Coupling Matrices
5 Numerical Simulations
6 Conclusion
References
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Proceedings of 2023 7th Chinese Conference on Swarm Intelligence and Cooperative Control

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