• <tr id="yyy80"></tr>
  • <sup id="yyy80"></sup>
  • <tfoot id="yyy80"><noscript id="yyy80"></noscript></tfoot>
  • 99热精品在线国产_美女午夜性视频免费_国产精品国产高清国产av_av欧美777_自拍偷自拍亚洲精品老妇_亚洲熟女精品中文字幕_www日本黄色视频网_国产精品野战在线观看 ?

    Limited-Budget Consensus Design and Analysis for Multiagent Systems With Switching Topologies and Intermittent Communications

    2021-10-25 01:41:36LeWangJianxiangXiBoHouandGuangbinLiu
    IEEE/CAA Journal of Automatica Sinica 2021年10期

    Le Wang,Jianxiang Xi,Bo Hou,and Guangbin Liu

    Abstract—This paper investigates limited-budget consensus design and analysis problems of general high-order multiagent systems with intermittent communications and switching topologies.The main contribution of this paper is that the tradeoff design between the energy consumption and the consensus performance can be realized while achieving leaderless or leaderfollowing consensus,under constraints of limited budgets and intermittent communications.Firstly,a new intermittent limitedbudget consensus control protocol with a practical trade-off design index is proposed,where the total budget of the whole multiagent system is limited.Then,leaderless limited-budget consensus design and analysis criteria are derived,in which the matrix variables of linear matrix inequalities are determined according to the total budget and the practical trade-off design parameters.Meanwhile,an explicit formulation of the consensus function is derived to describe the consensus state trajectory of the whole system.Moreover,a new two-stage transformation strategy is utilized for leader-following cases,by which the dynamics decomposition of leaderless and leader-following cases can be converted into a unified framework,and sufficient conditions of the leader-following limited-budget consensus design and analysis are determined via those of the leaderless cases.Finally,numerical simulations are given to illustrate theoretical results.

    I.INTRODUCTION

    DISTRIBUTED cooperative control of multiagent systems has received much attention from scholars due to its increasing applications in various technological fields,such as coordination of mobile robots,formation of multiple satellites,and synchronization of wireless sensor networks [1]–[5].Note that consensus problems should be tackled in the aforementioned applications,which refer to designing distributed controllers using local information such that a group of agents realize an agreement of some relevant states.Recently,some significant researches on the consensus of multiagent systems has been performed and many interesting works regarding consensus were reported in [6]–[9].

    Due to the resource limitation,it is required that the control budget should be limited.In this situation,the consensus performance and/or the energy consumption should be optimized under limited budget constraints.It should be pointed out that the concept of the limited-budget consensus is inspired by the guaranteed-cost consensus,which is described as a suboptimal or optimal consensus problem.Recently,some researchers studied guaranteed-cost consensus problems and determined different guaranteed costs to depict upper bounds of cost indexes as shown in [10]–[14],where the cost budgets cannot be limited.Considering the impacts of the limited energy,Xiet al.[15] addressed energy-constraint output consensus problems for multiagent systems,where only the energy consumption is ensured without considering the consensus performance.Although the consensus in[10]–[15] were optimized,the limited budget constraints were not considered.In practical applications,because the total budget of the whole multiagent systems is usually limited,it is significant to investigate limited-budget consensus problems.Meanwhile,since both consensus performance and energy consumption are important indexes to optimize,it is important to realize their trade-offs with the limited budget.

    Communication topologies play key roles in consensus problems,which may suffer some communication constraints in practical applications.On the one hand,since links of communication networks may change,the neighboring relationships among agents are time-varying,which can be described by switching topologies.In this scenario,communication topologies switch at some time points,so the Laplacian matrix of the whole topology is piecewise continuous as shown in [16]–[18] and the references therein.On the other hand,due to intermittent communications caused by the likes of network-injected packet losses,actuator failures,and temporary faults of sensing devices,the whole communication link will be interrupted and the control inputs of all agents will be zero during disconnected communication time intervals.Considering the influence of intermittent communications,consensus for second-order nonlinear multiagent systems with time delays and adaptive consensus for high-order delayed multiagent systems were studied in[19] and [20],respectively.An observer-based method was proposed to address the distributed robust consensus with intermittent communications in [21].Wenet al.[22] investigated consensus problems with both switching topologies and intermittent communications adopting tools of theM-matrix theory.

    Based on communication patterns among agents,consensus can be divided into leaderless consensus and leader-following ones.For leaderless consensus,multiple agents share the neighboring state information to reach a collaborative behavior autonomously,which cannot be specified previously[23]–[25].It should be pointed out that a virtual leader,also called a consensus function,can describe the expected trajectory formed by agents in leaderless multiagent systems.Olfati-Saber and Murray [26] determined the consensus function by investigating the average-consensus problem for first-order multiagent systems.A consensus function was derived in [27] to show the macroscopic movement of leaderless high-order nonlinear multiagent systems as a whole.Moreover,there exists a real leader in leader-following multiagent systems,where the leader can be regarded as an objective to be tracked by followers.Several important breakthroughs on leader-following consensus were obtained in[28]–[31].Although many efforts have been made to investigate leaderless and leader-following consensus utilizing different methods,it is still significant to develop an approach that can study these two cases in a unified framework.

    Motivated by the aforementioned works,this paper studies the limited-budget consensus problems of general high-order multiagent systems with intermittent communications and switching topologies,which is of great significance.Firstly,the achievement of the limited-budget consensus means that the agreement of all agents can be reached under the constraints of the total budget given previously,which has many potential important applications,including the cooperation of robots and quadrotors with limitations to their battery supply and oil tank capacity.Secondly,in practical applications,multiagent systems may be subject to communication constraints of intermittent communications and switching topologies,which may break down the operation of the whole system.By proposing the limitedbudget consensus protocol with these communication constraints,their effects to the multiagent systems will be well delt with.To the best of our knowledge,the following three problems are still worthy of investigation:1) Realizing the trade-off design between consensus performances and energy consumptions with limited budgets;2) Determining the impacts of both intermittent communications and switching topologies on the limited-budget consensus;3) Unifying leadless and leader-following consensus in a same framework.

    In this paper,firstly,we propose leaderless and leaderfollowing intermittent limited-budget consensus protocols,respectively,where the intermittent relative state information among switching neighbors is utilized and the value of the trade-off design index is required to be less than the limited total budget.Then,we study leaderless and leader-following consensus in the unified framework.In this framework,the dynamics of the whole multiagent system is decomposed into two parts: its consensus dynamics and disagreement dynamics,which describe the consensus state trajectory and the relative movement among agents,respectively.For leaderless consensus,this decomposition is achieved by an orthonormal transformation,and an explicit formulation of the consensus function is determined for the consensus dynamics.Leaderless limited-budget consensus design and analysis criteria are given in the form of linear matrix inequalities(LMIs).For leader-following consensus,a new two-stage transformation approach is developed for the decomposition.In this case,the dynamics of the leader is used to describe the consensus dynamics,and sufficient conditions of the leaderfollowing limited-budget consensus design and analysis are derived.

    Compared with existing works regarding the optimized consensus,the results in this paper are new in three aspects.Firstly,the practical trade-off design between energy consumptions and consensus performances is realized with a limited total budget.In this scenario,limited-budget consensus design and analysis criteria are derived,where matrix variables of LMIs are partly determined according to the total budget and practical trade-off design parameters.The total budget could not be limited in [10]–[14] and the trade-off design was not considered in [15].Secondly,the impacts of both switching topologies and intermittent communications are considered in consensus design and analysis,which is challenging since the trade-off design index becomes a piecewise continuous integral function and the relative state information among agents is intermittent.In contrast,switching topologies and intermittent communications were not involved simultaneously in [10]–[15].Thirdly,leaderless and leader-following consensus are achieved in a unified framework,where leader-following limited-budget consensus design and analysis criteria are obtained via the main results of the leaderless consensus,adopting a new two-stage nonsingular transformation approach.However,leaderless and leader-following consensus were not be unified in [10]–[15].

    The remainder of this paper is arranged as follows.In Section II,basic concepts of the graph theory,types of communication constraints,and the consensus protocol modeling are presented.Section III gives the leaderless limited-budget consensus design and analysis criteria,and determines an explicit formulation of the consensus function.In Section IV,the main results of leaderless cases are extended to leader-following cases via a two-stage nonsingular transformation approach.Section V provides two numerical simulation examples to demonstrate the effectiveness of the theoretical results.The main work is summarized in Section VI.

    Notations:N represents the set of natural numbers.Rdand Rd×ndenote the real column vector and real matrices of dimensionsdandd×n,respectively.Let 1Nbe anNdimensional column vector with its entries being 1.The transpose and the inverse matrix ofAare indicated byATandA?1,respectively.M=MT>0 means that the matrixMis symmetric and positive definite.INdenotes the identity matrix of the dimensionN.0,0dand 0d×nrepresent zero numbers,ddimensional zero column vectors andd×n-dimensional zero matrices,respectively.The notation ? is used to denote the Kronecker product.The symbol ? stands for the symmetric terms of a symmetric matrix.

    II.PROBLEM FORMULATION

    A.Communication Topology Modeling

    B.Communication Constraint Analyzing

    In this paper,we consider the influence of both switching topologies and intermittent communications,which is analyzed by the following three steps.

    Firstly,it is assumed that there exists a sequence of uniformly nonoverlapping time intervalswithwhereis bounded and topologies switch at time pointt?r.Note that the communication among agents is always connected,which means that each undirected graph is connected or each directed graph contains a spanning tree.

    Thirdly,in virtue of the above analysis,we can suppose that t here exists a sequence of uniformly bounded nonoverlapping time intervalsand an integerrpsuch thatandwitht0=0 andLetrepresent the disconnected communication rate withIt can be found that both switching topologies and intermittent communications occur over time intervals [tp,tp+1);that is,topologies are switched by the switching signal δ(t) in time intervalsand communications among all agents are disconnected in time intervals(see Fig.1 for illustration).

    Fig.1.Examples for communication constraints.

    C.Leaderless Consensus Protocol Designing

    Consider a general high-order multiagent system consisting ofNhomogeneous agents,where the dynamics of theith agent is modeled as follows:

    wherei∈{1,2,...,N},xi(t)∈Rdandui(t)∈Rnare the state and the control input,respectively.A∈Rd×dandB∈Rd×nare system matrices,and it is assumed that the pair(A,B) is stabilizable.

    According to the analysis of communication constraints,we propose a new limited-budget consensus protocol with switching topologies and intermittent communications in the following form:

    withp∈N,M=MT>0 andQ=QT>0 representing the practical trade-off design parameters.Kudenotes the gain matrix,andJis the practical trade-off design index between the energy consumption and the consensus performance.Allowing ψ to be the total budget of the whole multiagent system,then we can give the following definition of the leaderless limited-budget consensus design for multiagent systems with switching topologies and intermittent communications.

    Definition 1:For any given bounded non-identical initial statesxi(0)(i=1,2,...,N) and total budget ψ>0,multiagent system (1) is said to be leaderless limited-budget consensualizable by protocol (2) if there exist a gain matrixKuand a bounded vector-valued functionc(t)∈Rdsuch that limt→+∞(x(t)?1N?c(t))=0NdandJ≤ψ,wherec(t) is called the consensus function.

    The control objectives of this paper are twofold:1) Designing the gain matrixKusuch that multiagent system (1) with switching topologies and intermittent communications reaches leaderless limited-budget consensus,and determining an explicit formulation of the consensus function.2) Extending the main results of the leaderless limited-budget consensus to the leader-following case.

    Remark 1:The proposed protocol (2) contains two new features.Firstly,the limited total budget ψ is considered as a significant performance constraint for multiagent systems and protocol (2) should be designed to ensure that the value ofJis less than the total budget ψ.In this case,it is challenging to determine the interaction mechanism of matricesMandQon the gain matrixKu.Secondly,Jis a piecewise integral function due to the impact of intermittent communications.It should be noted that both the energy consumption and the consensus performance affectJin the connected communication time intervalswhile only the consensus performance has an impact onJin the disconnected communication time intervalsIn this scenario,Jis a piecewise continuous integral function since bothJx(t)andJu(t) have the piecewise continuous right-hand sides caused by intermittent communications and switching topologies.Compared with the consensus protocols of[10]–[15],the advantages of the proposed consensus protocol are twofold.On the one hand,the practical trade-off design index is introduced to weigh the energy consumption against the consensus performance under the limited budget constraint,while on the other hand,the proposed consensus protocol can be utilized in the situation that both switching topologies and intermittent communications are involved.However,the proposed consensus protocol may contain some deficiencies; that is,there exists potential chattering phenomenon caused by the piecewise continuous right-hand sides of the consensus protocol,which we will address in future works.

    III.LEADERLESS LIMITED-BUDGET CONSENSUS DESIGN AND ANALYSIS CRITERIA

    In this section,we first propose leaderless limited-budget consensus design and analysis criteria with both switching topologies and intermittent communications,and then determine an explicit formulation of the consensus function to describe the consensus state trajectory of the multiagent system as a whole.

    Substituting the control inputui(t) of (2) into (1),we can obtain that

    By inequation (21),we can find thatwhich indicates that multiagent system (1) reaches consensus exponentially.

    In the following,we will discuss the impact of the limited budget on the gain matrixKuin accordance with the practical trade-off design indexJ.From (2),we can obtain that

    Theorem 1 gives a method to design the gain matrix of protocol (2) such that multiagent system (1) with switching topologies and intermittent communications is limited-budget consensualizable.Next,the limited-budget consensus analysis criterion is provided when the gain matrix of protocol (2) is given.By adopting the convex property of LMIs and lettingwe can derive the following corollary directly from Theorem 1.■

    Corollary 1:For any givenKuand ψ >0,multiagent system(1) with protocol (2) reaches leaderless limited-budget consensus ifand there exists a matrixP=PT>0such that

    In the sequel,we will determine an explicit formulation of the consensus function to describe the macroscopical motion trajectory of the whole multiagent system.From (8),Definition 1 and the fact thatwe can obtain that

    According to (6),(31) and (32),the following corollary can be obtained.

    Corollary 2:If multiagent system (1) reaches limitedbudget consensus with protocol (2),then an explicit formulation of the consensus function is described as

    Remark 3:In Theorem 1,the conditionshows the interaction mechanism of the total budget ψ on the matrix variablewhich is associated with the initial states.Note that in the practical application of the state feedback control,the initial states of the multiagent system should be available.In this case,the conditioncan be easily satisfied by providing a proper total budget ψ.It is also noted that the initial states are supposed to be non-identical to derive this condition,which is a mild and reasonable assumption since consensus is reached when states of multiagent systems are agreed,and the consensus control is no longer required in this case.It should also be noted that the practical trade-off design between energy consumptions and consensus performances is achieved by establishing the relationship between the matrix variableand the matricesMandQ.In this case,MandQrepresent the weight of the consensus performance and the energy consumption,respectively,and one can adjustMandQto realize the trade-off design.Moreover,can be estimated by the Gersgorin disc theorem in [33] and Theorem 2.2 in [34],respectively.

    Remark 4:To address the intermittent communication problem,two parameters are introduced.The first one is the nominal convergence rate α,which can guarantee that the convergence rate of the Lyapunov function is faster than α in connected communication time internalsp∈N.The second one is the maximum divergency rate β,which undertakes that the Lyapunov function is divergent with a rate no more than β over disconnected communication time internalsp∈N.By introducing these two parameters,the conservativeness of the method can be reduced by a more rigorous scaling of the time derivative of the Lyapunov function than the methods found in [10]–[15].In this sense,multiagent system (1) can reach consensus exponentially with a convergence rate faster thanaccording to inequation (21).However,the methods in [10]–[15] can only reach the asymptotical consensus without intermittent communications and switching topologies.Note that ifwhich means that the communication is continuous,then the conditionin Theorem 1 becomes α>0.In this case,multiagent systems without intermittent communications reach consensus exponentially with a convergence rate faster than α by designing a proper gain matrixKuby Theorem 1 without the term

    Remark 5:Consensus function plays an important role in consensus problems since it describes the macroscopical motion trajectory of the whole multiagent system.The consensus function of the average consensus problem is the average of the states of all agents,i.e.,which was proposed by Olfati-Saber and Murray [26].For first-order multiagent systems,the consensus function is the average value of initial states of all agents,if the communication topology is balanced and strongly connected.According to Definition 1 and Corollary 2,it can be found that the consensus function for high-order multiagent systems is associated with both the average value of initial states of all agentsand the matrix exponential functioneAt.In this case,since the communication topology is undirected and connected,the consensus function can be regarded as the zeroinput response of the average of initial states of all agents,which is similar to that of the average consensus.However,if the communication topology is directed,then the consensus function can be determined by the initial state of each agent with an oblique projector as shown in Theorem 3 of [35],which is different from that of the average consensus.

    IV.ExTENSION TO LEADER-FOLLOWING CASES

    In this section,we give the leader-following limited-budget consensus design and analysis criteria for multiagent systems with switching topologies and intermittent communications.

    Allowing agentNto be the leader and the otherN?1 agents to be the homogenous followers,then the multiagent system with the leader-following structure is described as

    wherei=1,2,...,N?1.In system (33),the leader is located at the root vertex of the spanning tree;that is,there exist one or more directed communication channels from the leader to its followers.It is supposed that the leader never receives state information from followers and the communication channel among followers is undirected.It can be seen from (33) that the dynamics of the leader can be utilized to determine the consensus function,which is tracked by followers.

    We propose the leader-following limited-budget consensus protocol as follows:

    p∈N,W=WT>0,R=RT>0 andKulrepresenting the gain matrix.The definition of the leader-following limited-budget consensus design for multiagent systems with switching topologies and intermittent communications is given as follows.

    Definition 2:For any given bounded non-identical initial statesxi(0)(i=1,2,...,N?1) and total budget ψl>0,multiagent system (33) is said to be leader-following limitedbudget consensualizable by protocol (34),if there exists a gain matrixKulsuch that1,2,...,N?1)andJl≤ψl.

    Next,we develop a two-stage transformation method to decompose the whole dynamics of system (35) with leaderfollowing structure into the consensus dynamics and the disagreement dynamics.

    Firstly,we give the nonsingular transformation to convert the Laplacian matrixLδ(t) into a block diagonal matrix.Define a nonsingular matrix as follows:system (33) with protocol (34) reaches leader-following limited-budget consensus ifand there exists a matrixF=FT>0 such that

    Remark 6:In this paper,we investigate leaderless and leader-following limited-budget consensus in a unified framework of the dynamics decomposition.For leaderless cases,we construct an orthonormal transformation to decouple the dynamics of the whole multiagent systems into two linearly independent parts due to the symmetry of Laplacian matrices for undirected topologies.For leader-following cases,since the Laplacian matrices are asymmetric,the aforementioned orthonormal transformation is no longer valid.To facilitate the analysis of the leaderless and leaderfollowing cases in a unified framework,we proposed a twostage nonsingular transformation approach,where the first stage is to deal with the asymmetry of Laplacian matrices by a nonsingular transformation.In this case,the Laplacian matrices can be transformed into diagonal block matrices with the blockand 0.Then,in the second stage,we diagonalize the blockby the orthonormal transformation such that the dynamics of the whole multiagent systems can be linearly decoupled.

    Remark 7:According to the two-stage nonsingular transformation approach,limited-budget consensus design and analysis criteria are derived in Theorem 2 and Corollary 3,respectively,which are similar to the main results of leaderless cases obtained in Section III.However,the main differences between leaderless cases and leader-following cases are two-fold.Firstly,the communication topology structures of multiagent systems (1) and (33) are different.System (1),with the leaderless structure,describes the dynamics of each agent,where all agents decide their collaborative behavior collectively.However,system (33)with the leader-following structure describes the dynamics of the leader with no control input and that of the follower,where the consensus state of followers is determined by the state of the leader.Secondly,the interaction mechanism matrices between the practical trade-off design indexes (2)and (34) are different.For leaderless cases,the interaction mechanism matrixis the Laplacian matrix of a c[omplete graph ]while it is a Laplacian matrix,i.e.,of a star graph for leader-following cases(see Fig.2 for illustration).From Fig.2,it can be found that all agents play equal roles in determining the interaction mechanism of the practical trade-off design index for the leaderless cases,but it is determined solely by the leader for the leader-following cases.

    Fig.2.Examples for complete graph and star graph.

    V.NUMERICAL SIMULATIONS

    In this section,two simulation examples are provided to illustrate the efficacy of the theoretical results obtained in the previous sections.

    Example 1 (Leaderless Cases):

    Consider a leaderless multiagent system consisting of six agents,where the switching communication topologies and the switching signal withTd=0.3 s are shown in Figs.3 and 4,respectively.Without loss of generality,the adjacent matrices of topologies are chosen as 0–1 ones.Set the system matrices of each agent as

    The initial states of multiagent system (1) are chosen as

    Fig.3.Switching communication topology set for leaderless cases.

    Fig.4.Switching signal for leaderless cases.

    The connected and disconnected communication time intervals are set ast∈[0.6p,0.6p+0.48)s andt∈[0.6p+0.48,0.6(p+1))s(p∈N),respectively.In this scenario,the parameters in Theorem 1 are given asand β=8.The practical trade-off design parameters areM=diag{0.04,0.02,0.05,0.03} andQ=0.15.The provided total budget is ψ=300.According to Theorem 1,it can be calculated by the feasp solver of the LMI toolbox in MATLAB that κ=0.0311 and

    Then,we can design the gain matrix of protocol (2) asKu=[?0.1436,0.4186,0.7249,0.4675].

    Fig.5 shows the state trajectories of six agents and the consensus function,where the states of the agents are denoted as full curves and the trajectory of the consensus function is represented by a sequence of circles.The trajectory of the practical trade-off design index and the total budget are shown in Fig.6.

    It can be found from Fig.5 that the states of six agents converge to the same value formed by the consensus function,which describes the macroscopical movement trajectory of the whole multiagent system.Note that the small bulges in the state curve of each agent reflect the impacts of the intermittent communications and switching topologies.Fig.5 indicates that the consensus can be achieved under the communication constraints.The curves in Fig.6 show that the value of the practical trade-off design index converges to a finite value that is less than the total budget,which means that the limited budget constraints are satisfied.It can be concluded by the simulation results that leaderless multiagent system (1) with switching topologies and intermittent communications is limited-budget consensualizable by consensus protocol (2).

    Fig.5.State trajectories of six agents and the consensus function.

    Example 2 (Leader-Following Cases):

    Consider a group of agents with one leader and five followers,where the disconnected communication time intervals are set ast∈[0.6p+0.45,0.6(p+1))s(p∈N) with the upper bound of the disconnected communication rate beingThe system matrices are given as follows:

    Fig.6.Trajectories of the practical trade-off design index and the total budget for leaderless cases.

    The switching communication topology set is shown in Fig.7 by 0–1 weighted graphs,and the switching signal with the dwell time beingTd=0.3 s is described in Fig.8.Letx6(0)=[?6.5,?2.4,?5.4,?3.1]Tfor the leader,and the initial states of five followers are given as

    Let α=2 and β=6.The values of the practical trade-off design parameters are set asM=diag{0.03,0.04,0.01,0.02}andQ=0.08,respectively.Let ψl=2500,then it can be determined according to Theorem 2 that κ=0.0092 and

    Fig.7.Switching communication topology set for leader-following cases.

    Fig.8.Switching signal for leader-following cases.

    In this case,we can design the gain matrix of protocol (34) asKu=[?0.1678,0.4299,2.2709,1.3618].

    Fig.9 depicts the state trajectories of the leader and five followers,where the states of the leader and followers are described as sequences of circles and full curves,respectively.Fig.10 shows the curves of the practical trade-off design index and the total budget,respectively.

    From Fig.9,it can be seen that state the curves of the five followers converge to that of the leader,where the state of the leader determines the consensus trajectory of the multiagent system as a whole.The influence of the intermittent communications and switching topologies can also be found in the state trajectories of the followers.Fig.10 indicates that the value of the practical trade-off design index converges to a finite value that satisfiesJl<ψl.The results in Figs.8–10 illustrate that for previously given total budgets,leaderfollowing multiagent system (33) with switching topologies and intermittent communications is limited-budget consensualizable by consensus protocol (34).

    Remark 8:There are two main differences between the simulation results of the leaderless case and the leaderfollowing case.The first one is that the structures of the Laplacian matrices of these two cases are different.For the leaderless case,the Laplacian matrix is symmetric.However,the Laplacian matrix of the leader-following case is asymmetric,and all the elements of the row related to the leader are zero ones,since the indegree of the leader is zero.The second one is that the descriptions of the consensus trajectory of the whole multiagent system are different.For the leaderless case,the consensus trajectory is depicted by the consensus function,but it is described by the state trajectory of the leader for the leader-following case.

    VI.CONCLUSIONS

    Fig.9.State trajectories of one leader and five followers.

    Fig.10.Curves of the practical trade-off design index and the total budget for leader-following cases.

    Both leaderless and leader-following limited-budget consensus design and analysis problems were addressed in a unified framework for multiagent systems with switching topologies and intermittent communications.Leaderless and leader-following intermittent limited-budget consensus protocols with trade-off design indexes between consensus performances and energy consumptions were proposed,where the trade-off design index was required to be less than the limited total budget.An orthonormal transformation and a two-stage nonsingular transformation were proposed to decouple the dynamics of the whole multiagent systems into two linearly independent parts for leaderless and leaderfollowing cases,respectively.For leaderless cases,limitedbudget consensus design and analysis criteria were given,and an explicit formulation of the consensus function was determined.For leader-following case,the consensus dynamics was determined by the dynamics of the leader,and sufficient conditions of limited-budget consensus design and analysis were derived.

    Future works will focus on extending the current work by adopting an event-triggered mechanism to address the limitedbudget event-triggered consensus design and analysis problems for multiagent systems with intermittent communications,and some interesting event-based dynamic feedback methods as shown in [36] also serve as inspiration.

    久久性视频一级片| 99在线视频只有这里精品首页| 男女视频在线观看网站免费 | 免费人成视频x8x8入口观看| avwww免费| 嫩草影视91久久| 亚洲精品在线美女| 亚洲欧美日韩东京热| 天堂av国产一区二区熟女人妻 | 50天的宝宝边吃奶边哭怎么回事| 老司机福利观看| 在线观看免费视频日本深夜| 亚洲第一欧美日韩一区二区三区| 在线观看免费日韩欧美大片| 中国美女看黄片| 日本a在线网址| 中文字幕人妻丝袜一区二区| 天天躁狠狠躁夜夜躁狠狠躁| av天堂在线播放| 男女午夜视频在线观看| 日韩欧美国产一区二区入口| 国产精品亚洲一级av第二区| 91大片在线观看| 久99久视频精品免费| av超薄肉色丝袜交足视频| 嫩草影院精品99| or卡值多少钱| 亚洲精品粉嫩美女一区| 亚洲精品粉嫩美女一区| 久久久久久大精品| 男女做爰动态图高潮gif福利片| 搡老岳熟女国产| 午夜影院日韩av| 波多野结衣高清无吗| ponron亚洲| 不卡一级毛片| 少妇粗大呻吟视频| 亚洲国产高清在线一区二区三| 国产熟女xx| 欧美绝顶高潮抽搐喷水| 国产熟女xx| 女人爽到高潮嗷嗷叫在线视频| 国产成人精品久久二区二区免费| 亚洲午夜理论影院| 亚洲av中文字字幕乱码综合| 国产成人啪精品午夜网站| 老司机午夜福利在线观看视频| 亚洲欧美激情综合另类| 热99re8久久精品国产| 非洲黑人性xxxx精品又粗又长| 国产视频内射| av片东京热男人的天堂| 女人被狂操c到高潮| 热99re8久久精品国产| 国内精品久久久久久久电影| 精品一区二区三区四区五区乱码| 18美女黄网站色大片免费观看| 亚洲aⅴ乱码一区二区在线播放 | 成人18禁高潮啪啪吃奶动态图| 亚洲五月婷婷丁香| 亚洲国产欧美一区二区综合| 国产高清有码在线观看视频 | 国产熟女午夜一区二区三区| 真人一进一出gif抽搐免费| 午夜免费激情av| www.www免费av| 母亲3免费完整高清在线观看| 国产黄色小视频在线观看| 成在线人永久免费视频| 制服丝袜大香蕉在线| 九九热线精品视视频播放| 老汉色av国产亚洲站长工具| 波多野结衣高清作品| 天堂动漫精品| 琪琪午夜伦伦电影理论片6080| 九九热线精品视视频播放| 国产精品自产拍在线观看55亚洲| 免费看美女性在线毛片视频| 一夜夜www| 久久精品国产亚洲av高清一级| 国产成人精品无人区| 久久中文字幕一级| 久久久国产欧美日韩av| 亚洲av片天天在线观看| 免费在线观看成人毛片| 一个人免费在线观看的高清视频| 最好的美女福利视频网| 99久久99久久久精品蜜桃| 国产日本99.免费观看| 亚洲av日韩精品久久久久久密| 999精品在线视频| 精品高清国产在线一区| 成年免费大片在线观看| 久久久久久久精品吃奶| 久久这里只有精品中国| 国产乱人伦免费视频| 九色国产91popny在线| 久久精品亚洲精品国产色婷小说| 麻豆久久精品国产亚洲av| 午夜影院日韩av| 日本 av在线| 哪里可以看免费的av片| 免费观看人在逋| 男人舔女人的私密视频| xxx96com| 成年女人毛片免费观看观看9| 日韩高清综合在线| 成人av在线播放网站| 又爽又黄无遮挡网站| 日韩欧美在线二视频| 久久国产精品人妻蜜桃| 欧美一级a爱片免费观看看 | 岛国视频午夜一区免费看| 国产午夜精品久久久久久| 国产一区二区三区在线臀色熟女| 99国产精品一区二区蜜桃av| 国产精品久久视频播放| 亚洲欧美日韩高清专用| 国产69精品久久久久777片 | 精品久久蜜臀av无| 久久伊人香网站| 久久久精品大字幕| 中文字幕av在线有码专区| 天天一区二区日本电影三级| 又紧又爽又黄一区二区| 成人av一区二区三区在线看| 亚洲乱码一区二区免费版| 久久精品国产亚洲av香蕉五月| 亚洲av成人av| 听说在线观看完整版免费高清| 亚洲国产精品成人综合色| 欧美人与性动交α欧美精品济南到| 日本撒尿小便嘘嘘汇集6| 成人18禁在线播放| 国产精品野战在线观看| 少妇熟女aⅴ在线视频| 老司机在亚洲福利影院| 国产爱豆传媒在线观看 | 国产熟女午夜一区二区三区| 午夜老司机福利片| 精品久久久久久成人av| 日韩欧美在线乱码| 又黄又爽又免费观看的视频| 国产精品一区二区精品视频观看| 国产三级中文精品| 久久精品aⅴ一区二区三区四区| 久久欧美精品欧美久久欧美| 女同久久另类99精品国产91| 国产精品亚洲美女久久久| 免费在线观看日本一区| 中文字幕高清在线视频| 老司机深夜福利视频在线观看| 国产三级中文精品| 国产亚洲av高清不卡| 日本三级黄在线观看| 亚洲欧美精品综合久久99| 91大片在线观看| 国产成人精品久久二区二区免费| www日本在线高清视频| 国产乱人伦免费视频| 亚洲精品中文字幕在线视频| 婷婷精品国产亚洲av在线| 午夜免费成人在线视频| 黄色 视频免费看| 全区人妻精品视频| 久久久久久九九精品二区国产 | 一a级毛片在线观看| 99re在线观看精品视频| 日本黄大片高清| 无遮挡黄片免费观看| 他把我摸到了高潮在线观看| 国内毛片毛片毛片毛片毛片| 搡老妇女老女人老熟妇| 又大又爽又粗| 亚洲人与动物交配视频| 又爽又黄无遮挡网站| 久久国产精品人妻蜜桃| 91在线观看av| 亚洲国产精品合色在线| 日本黄大片高清| 久久久国产欧美日韩av| 国产精品免费一区二区三区在线| 俄罗斯特黄特色一大片| 亚洲精华国产精华精| 亚洲人与动物交配视频| 国内久久婷婷六月综合欲色啪| 色av中文字幕| 精品国产乱子伦一区二区三区| 日韩精品中文字幕看吧| 老司机靠b影院| 99国产极品粉嫩在线观看| 国产精品久久久人人做人人爽| 精品久久久久久久毛片微露脸| 国产成人精品无人区| 在线观看日韩欧美| 国产片内射在线| 中文资源天堂在线| 国产亚洲精品久久久久久毛片| 午夜福利在线在线| 香蕉av资源在线| 欧美日韩亚洲综合一区二区三区_| 欧美黑人巨大hd| 成人av在线播放网站| 国产av一区在线观看免费| 9191精品国产免费久久| av福利片在线观看| 国产精品久久久久久亚洲av鲁大| 国产成人av激情在线播放| 淫妇啪啪啪对白视频| 亚洲欧美日韩东京热| 老汉色∧v一级毛片| 日本 av在线| 久久中文字幕人妻熟女| 制服诱惑二区| 欧美日韩亚洲国产一区二区在线观看| 黄色a级毛片大全视频| 色老头精品视频在线观看| 熟女电影av网| 丁香欧美五月| 久久久国产精品麻豆| 日本a在线网址| a在线观看视频网站| 免费看日本二区| 99国产精品99久久久久| 在线观看66精品国产| 午夜福利高清视频| 亚洲,欧美精品.| 淫秽高清视频在线观看| 久久精品成人免费网站| 精品午夜福利视频在线观看一区| 欧美大码av| 亚洲午夜精品一区,二区,三区| 三级男女做爰猛烈吃奶摸视频| www日本在线高清视频| 搡老熟女国产l中国老女人| 真人做人爱边吃奶动态| 99精品在免费线老司机午夜| 亚洲欧洲精品一区二区精品久久久| 成人三级做爰电影| 99久久精品国产亚洲精品| 久99久视频精品免费| 国产成人影院久久av| 亚洲五月天丁香| 我要搜黄色片| 欧美日韩亚洲综合一区二区三区_| 变态另类丝袜制服| 丰满的人妻完整版| 久久这里只有精品中国| 亚洲国产看品久久| 嫩草影视91久久| 欧美+亚洲+日韩+国产| 色综合亚洲欧美另类图片| 日本a在线网址| 黄色片一级片一级黄色片| 成人一区二区视频在线观看| 又紧又爽又黄一区二区| 无遮挡黄片免费观看| 18禁国产床啪视频网站| 国产伦人伦偷精品视频| 亚洲欧美日韩高清专用| www.精华液| 在线十欧美十亚洲十日本专区| 国产av在哪里看| 美女高潮喷水抽搐中文字幕| cao死你这个sao货| 精品欧美一区二区三区在线| 女人爽到高潮嗷嗷叫在线视频| 久久精品人妻少妇| 国产精品av视频在线免费观看| 欧美日韩亚洲综合一区二区三区_| 一进一出抽搐动态| 成人欧美大片| 身体一侧抽搐| 久久中文看片网| а√天堂www在线а√下载| 久久久精品国产亚洲av高清涩受| 久久热在线av| 亚洲欧美日韩东京热| av天堂在线播放| 日韩三级视频一区二区三区| 18美女黄网站色大片免费观看| 精品欧美一区二区三区在线| 欧美日韩国产亚洲二区| 成人国产一区最新在线观看| 亚洲av美国av| 久久精品综合一区二区三区| 91av网站免费观看| 国产精品 国内视频| 国产欧美日韩一区二区精品| 午夜老司机福利片| 久久草成人影院| 婷婷丁香在线五月| 国产又黄又爽又无遮挡在线| 啦啦啦观看免费观看视频高清| 可以在线观看毛片的网站| 99久久99久久久精品蜜桃| 久久久久国产精品人妻aⅴ院| 变态另类成人亚洲欧美熟女| 我的老师免费观看完整版| 午夜免费成人在线视频| 在线观看一区二区三区| 国产私拍福利视频在线观看| 麻豆国产97在线/欧美 | 亚洲人成电影免费在线| 国产成人啪精品午夜网站| 成年版毛片免费区| 亚洲精品久久成人aⅴ小说| 亚洲av第一区精品v没综合| 夜夜夜夜夜久久久久| 欧美高清成人免费视频www| www.自偷自拍.com| 国产精品爽爽va在线观看网站| 国产日本99.免费观看| 激情在线观看视频在线高清| 免费电影在线观看免费观看| av福利片在线| 天天一区二区日本电影三级| 黄片小视频在线播放| 国产成人av教育| 中文字幕高清在线视频| 一级作爱视频免费观看| 最近最新中文字幕大全电影3| 在线观看www视频免费| 亚洲精品国产精品久久久不卡| 美女 人体艺术 gogo| 老司机深夜福利视频在线观看| 国产野战对白在线观看| 性色av乱码一区二区三区2| 欧美中文日本在线观看视频| 国产精品乱码一区二三区的特点| 久久精品aⅴ一区二区三区四区| 欧美黑人巨大hd| 国产99久久九九免费精品| 午夜视频精品福利| 欧美日韩中文字幕国产精品一区二区三区| 麻豆成人午夜福利视频| 精品久久久久久久人妻蜜臀av| 成人特级黄色片久久久久久久| 十八禁网站免费在线| 亚洲成人久久爱视频| 精品国产乱子伦一区二区三区| 亚洲熟女毛片儿| 18禁国产床啪视频网站| 午夜免费激情av| 正在播放国产对白刺激| 免费无遮挡裸体视频| 久久久国产欧美日韩av| 九九热线精品视视频播放| 在线观看日韩欧美| 免费一级毛片在线播放高清视频| 久久婷婷成人综合色麻豆| 国产私拍福利视频在线观看| 午夜福利在线观看吧| 老司机福利观看| 欧美绝顶高潮抽搐喷水| 国产成人系列免费观看| 久久人妻福利社区极品人妻图片| 在线观看日韩欧美| 女人爽到高潮嗷嗷叫在线视频| 久久这里只有精品中国| 久久性视频一级片| 啦啦啦韩国在线观看视频| 国产午夜福利久久久久久| 国产精品一及| 国产精品久久视频播放| 又爽又黄无遮挡网站| 国产成人精品久久二区二区免费| 亚洲专区中文字幕在线| 中文字幕人妻丝袜一区二区| 18美女黄网站色大片免费观看| 午夜福利成人在线免费观看| 国产亚洲精品一区二区www| 久久久久亚洲av毛片大全| 久久人妻福利社区极品人妻图片| 欧美丝袜亚洲另类 | 99精品欧美一区二区三区四区| 99久久精品国产亚洲精品| 亚洲va日本ⅴa欧美va伊人久久| 国产一区在线观看成人免费| 男插女下体视频免费在线播放| 国产99久久九九免费精品| www日本黄色视频网| 国产欧美日韩一区二区精品| 欧美乱色亚洲激情| 午夜免费观看网址| 亚洲成人久久爱视频| 亚洲一区二区三区不卡视频| 一a级毛片在线观看| 成人手机av| 看片在线看免费视频| 天天躁狠狠躁夜夜躁狠狠躁| 一级片免费观看大全| 日韩大尺度精品在线看网址| 亚洲真实伦在线观看| 亚洲黑人精品在线| 免费在线观看日本一区| 午夜福利18| 1024视频免费在线观看| 国产精品电影一区二区三区| 波多野结衣高清无吗| 欧美日韩乱码在线| 亚洲男人的天堂狠狠| av福利片在线观看| 国产精品免费一区二区三区在线| 男人的好看免费观看在线视频 | 好男人电影高清在线观看| 久久天躁狠狠躁夜夜2o2o| 午夜日韩欧美国产| 欧美日本亚洲视频在线播放| 久久精品成人免费网站| 日日爽夜夜爽网站| 欧美午夜高清在线| 日本撒尿小便嘘嘘汇集6| 久久久久久免费高清国产稀缺| 搡老妇女老女人老熟妇| 欧美最黄视频在线播放免费| 色噜噜av男人的天堂激情| 国产成人aa在线观看| 在线观看免费视频日本深夜| 欧美性猛交╳xxx乱大交人| 久久热在线av| 神马国产精品三级电影在线观看 | 国产成+人综合+亚洲专区| 黄色女人牲交| 桃色一区二区三区在线观看| 国产精品久久久久久久电影 | 老司机深夜福利视频在线观看| 岛国视频午夜一区免费看| 免费在线观看亚洲国产| 天天一区二区日本电影三级| 久久久水蜜桃国产精品网| 亚洲精品国产一区二区精华液| 亚洲 欧美 日韩 在线 免费| 一夜夜www| 成人一区二区视频在线观看| 亚洲欧美日韩无卡精品| 好男人在线观看高清免费视频| 日韩国内少妇激情av| 亚洲性夜色夜夜综合| 非洲黑人性xxxx精品又粗又长| 亚洲精品一卡2卡三卡4卡5卡| 欧美性猛交╳xxx乱大交人| 老汉色av国产亚洲站长工具| 久久久久久亚洲精品国产蜜桃av| 久久久久久九九精品二区国产 | 亚洲一区二区三区不卡视频| 午夜福利免费观看在线| 日日夜夜操网爽| 国产高清视频在线观看网站| 日本三级黄在线观看| 午夜影院日韩av| 麻豆成人午夜福利视频| 亚洲国产精品合色在线| 国产精品av久久久久免费| 久久人妻av系列| www国产在线视频色| 两人在一起打扑克的视频| 老熟妇仑乱视频hdxx| 久久久久国内视频| 国产成人av激情在线播放| 欧美黑人精品巨大| 一进一出抽搐动态| 国产精品99久久99久久久不卡| 国产精品av久久久久免费| 精品第一国产精品| 婷婷精品国产亚洲av在线| av有码第一页| 久久人妻av系列| 午夜福利在线在线| 别揉我奶头~嗯~啊~动态视频| 欧美日韩瑟瑟在线播放| 99在线人妻在线中文字幕| 97超级碰碰碰精品色视频在线观看| 国产1区2区3区精品| 一区福利在线观看| 99久久精品国产亚洲精品| 久久欧美精品欧美久久欧美| 久久九九热精品免费| 国产精品电影一区二区三区| 男女午夜视频在线观看| 久久久久久大精品| 国产成人欧美在线观看| 女人爽到高潮嗷嗷叫在线视频| 18禁黄网站禁片免费观看直播| 国产一区二区三区在线臀色熟女| 亚洲人与动物交配视频| 伦理电影免费视频| 精品国产超薄肉色丝袜足j| 岛国视频午夜一区免费看| 国产亚洲av嫩草精品影院| 黄色丝袜av网址大全| 日本黄色视频三级网站网址| 啦啦啦免费观看视频1| 岛国在线免费视频观看| 久久香蕉激情| 日日摸夜夜添夜夜添小说| 亚洲中文字幕日韩| 大型黄色视频在线免费观看| 香蕉av资源在线| 欧美成狂野欧美在线观看| svipshipincom国产片| 婷婷精品国产亚洲av| 免费看a级黄色片| 香蕉av资源在线| 男女之事视频高清在线观看| 高清毛片免费观看视频网站| xxx96com| 亚洲国产日韩欧美精品在线观看 | 国产亚洲av嫩草精品影院| 99精品在免费线老司机午夜| 久久人人精品亚洲av| 中亚洲国语对白在线视频| 国产激情偷乱视频一区二区| 国内揄拍国产精品人妻在线| 国产区一区二久久| 欧美日韩黄片免| 久久婷婷人人爽人人干人人爱| 成人午夜高清在线视频| 校园春色视频在线观看| 欧美不卡视频在线免费观看 | 在线观看免费午夜福利视频| 一区二区三区国产精品乱码| 香蕉av资源在线| 首页视频小说图片口味搜索| 国产精品99久久99久久久不卡| 国产一区二区在线av高清观看| 亚洲avbb在线观看| 亚洲国产看品久久| 美女 人体艺术 gogo| 少妇粗大呻吟视频| 久久久久九九精品影院| 欧美三级亚洲精品| 午夜免费激情av| 亚洲一区二区三区色噜噜| 99riav亚洲国产免费| 国产午夜福利久久久久久| 俺也久久电影网| 麻豆成人av在线观看| 俺也久久电影网| 91九色精品人成在线观看| 床上黄色一级片| 日日夜夜操网爽| 国产又色又爽无遮挡免费看| 国产精品久久电影中文字幕| av天堂在线播放| 日本撒尿小便嘘嘘汇集6| 精品少妇一区二区三区视频日本电影| a在线观看视频网站| 真人做人爱边吃奶动态| 国产一区二区激情短视频| 亚洲欧美日韩高清在线视频| 黄色视频不卡| 久久久久久久久中文| 国产精品久久久人人做人人爽| 亚洲欧美精品综合久久99| 波多野结衣高清无吗| 国产真实乱freesex| 每晚都被弄得嗷嗷叫到高潮| 18禁美女被吸乳视频| 午夜日韩欧美国产| www.999成人在线观看| 色综合欧美亚洲国产小说| 亚洲国产看品久久| 亚洲av电影不卡..在线观看| 色在线成人网| 色av中文字幕| 日韩成人在线观看一区二区三区| 亚洲一区高清亚洲精品| ponron亚洲| 国产成人aa在线观看| 好男人电影高清在线观看| 桃红色精品国产亚洲av| 三级男女做爰猛烈吃奶摸视频| 久久中文字幕人妻熟女| 老司机深夜福利视频在线观看| 制服丝袜大香蕉在线| 中文资源天堂在线| 性色av乱码一区二区三区2| 超碰成人久久| 中文字幕熟女人妻在线| 国产亚洲精品av在线| 午夜福利免费观看在线| 搡老熟女国产l中国老女人| 午夜福利免费观看在线| 国产成人av激情在线播放| 精品国产美女av久久久久小说| 午夜久久久久精精品| 国产精品香港三级国产av潘金莲| 首页视频小说图片口味搜索| 神马国产精品三级电影在线观看 | 婷婷亚洲欧美| 国产黄色小视频在线观看| 在线十欧美十亚洲十日本专区| 国产黄色小视频在线观看| 久久久久国产精品人妻aⅴ院| 亚洲av电影在线进入| 一本大道久久a久久精品| 欧美精品啪啪一区二区三区| 欧美成狂野欧美在线观看| 巨乳人妻的诱惑在线观看| 校园春色视频在线观看| 亚洲精品美女久久av网站| 久久精品亚洲精品国产色婷小说| 90打野战视频偷拍视频| 亚洲午夜精品一区,二区,三区| 国产精华一区二区三区| 巨乳人妻的诱惑在线观看| 天堂av国产一区二区熟女人妻 | 日本一本二区三区精品| 欧美性猛交黑人性爽| 亚洲国产高清在线一区二区三| www国产在线视频色| 宅男免费午夜| 超碰成人久久| 久久精品91无色码中文字幕|