Yu-Ping Tian

Southeast University (China), Nan-ching-hsü, Jiangxi Sheng, China

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Publications (76)84.16 Total impact

  • Ya Zhang · Yu-Ping Tian
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    ABSTRACT: This paper studies the consensus of general linear multi-agent systems with uniform delay and focuses on searching a maximum allowable delay bound. Both fixed and switching topology cases are discussed. Through a series of system transformations the consensus problem is converted to the robust stability problem of some uncertain state-delayed system. By using Lyapunov-Krasovskii function analysis, consensus conditions which contain the feedback gain condition and delay condition are proposed for systems under fixed topology and switching connected topologies, respectively. Maximum allowable delay bounds are further obtained for both systems. As long as the delay is less than this bound, there exist linear feedback consensus protocols driving the multi-agent system to achieve consensus. Numerical examples are given to illustrate the results.
    No preview · Conference Paper · Jan 2012
  • Yang-Yang Chen · Yu-Ping Tian
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    ABSTRACT: This article utilises a dynamic model of unicycles to address the convergence of vehicle formation about closed convex curves. A novel curve extension method, extending the target loop along the vector from the loop centre to the point on the loop, is proposed to construct a family of level curves and the existence of a loop function on a tubular-like neighbourhood is proved by referring to the tubular neighbourhood theorem. Path following control is derived based on the loop function which incorporated into the arc-length function to propose the solution to coordinated formation control. We show how backstepping technique, Lyapunov-based theory and graph theory can be combined together to construct the coordinated path following controller under the bidirectional commutation topology. It is proved that the designed cooperative control system is asymptotically stable if the graph is connected. The proposed method is effective for a skewed superellipse, which is a type of curve that includes circles, ellipses and rounded parallelograms.
    No preview · Article · Oct 2011 · International Journal of Control
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    Qin Wang · Yu-Ping Tian · Yao-Jin Xu
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    ABSTRACT: This paper considers the formation-shape control of three agents moving in the plane. By adding an adaptive vector perturbation to any agent's movement direction, a novel control strategy is proposed. It is shown that the proposed novel bidirectional control law can not only guarantee the global asymptotical stability of the desired formation shape, but also ensure the collision avoidance of agents between each other. Simulation results are provided to illustrate the effectiveness of the control algorithm.
    Preview · Conference Paper · Aug 2011
  • Ya Zhang · Yu-Ping Tian
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    ABSTRACT: This paper studies discrete-time general linear multi-agent systems over a fixed directed topology. Dynamic output feedback protocols are applied to solve the consensus problem. Being different from the low-order integrator and continuous- time systems, it is revealed that the solvability of the consensus depends on the weights of the topology. The consensus problem is converted to the simultaneous mean square stability of some stochastic switching subsystems. By considering the robust stability of certain system with uncertainty, a sufficient condition of the weights under which there exist dynamic output feedback protocols solving the consensus problem is given. Proper protocol parameters are further provided.
    No preview · Article · Jan 2011
  • Yang-Yang CHEN · Yu-Ping TIAN
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    ABSTRACT: This paper studies formation control design and stability analysis for a system of double-integrator agents with directed communication links, in which the agents' motions are restricted to a set of given curves. The agents' dynamics and the given curves are all described in a fixed system of rectangular coordinates. Path functions are introduced to design path-following control system and then incorporated into arc-length functions to design formation protocol for guaranteeing consensus of both positions and velocities of agents along their desired paths based on the nominated formation. By graph theory, it is proved that the designed formation control system is asymptotically stable if the directed graph associated with the communication topology has a globally reachable node. The directed coordinated strategy proposed in this paper is applicable to optimal data collecting in an area.
    No preview · Article · Dec 2010 · ACTA AUTOMATICA SINICA
  • Ya Zhang · Yu-Ping Tian
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    ABSTRACT: This article studies the consensus problem for a group of sampled-data general linear dynamical agents over random communication networks. Dynamic output feedback protocols are applied to solve the consensus problem. When the sampling period is sufficiently small, it is shown that as long as the mean topology has globally reachable nodes, the mean square consensus can be achieved by selecting protocol parameters so that n − 1 specified subsystems are simultaneously stabilised. However, when the sampling period is comparatively large, it is revealed that differing from low-order integrator multi-agent systems the consensus problem may be unsolvable. By using the hybrid dynamical system theory, an allowable upper bound of sampling period is further proposed. Two approaches to designing protocols are also provided. Simulations are given to illustrate the validity of the proposed approaches.
    No preview · Article · Nov 2010 · International Journal of Control
  • Ya Zhang · Yu-Ping Tian
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    ABSTRACT: The consensus problem is considered for a team of second-order mobile agents communicating via a network with noise, variable delays and occasional packet losses. A queuing mechanism is applied and the switching process of the interaction topology of the network is modeled as a Bernoulli random process. In such a framework, a necessary and sufficient condition is presented for the mean-square robust consensus. Moreover, a necessary and sufficient condition of the solvability of the mean-square robust consensus problem is established. An approach to designing consensus protocol is proposed and numerical examples are given to illustrate the results.
    No preview · Article · May 2010 · IEEE Transactions on Automatic Control
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    Jiandong Zhu · Yu-Ping Tian · Jing Kuang
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    ABSTRACT: In this paper, a general consensus protocol is considered for multi-agent systems with double-integrator dynamics. The advantage of this protocol is that different consensus dynamics including linear, periodic and positive exponential dynamics can be realized by choosing different gains. Necessary and sufficient conditions for solving the consensus problem with the considered general protocol are obtained, namely, all the gains realizing the consensus can be described. The design method of the consensus protocol is constructively given. Moreover, a periodic consensus protocol is obtained as a special case and it is revealed that the maximum convergence speed can be achieved by choosing suitable gains.
    Full-text · Article · Aug 2009 · Linear Algebra and its Applications
  • Cheng-Lin Liu · Yu-Ping Tian
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    ABSTRACT: In this article, the formation control is investigated for a network of second-order dynamic agents with heterogeneous communication delays. The desired stationary formation is achieved by introducing diverse self-delay for each agent. In addition, a delay-dependent formation control algorithm is proposed to achieve the desired moving formation. Based on the frequency-domain analysis and matrix theory, sufficient conditions are obtained for the multi-agent systems asymptotically converging to desired stationary and moving formations, respectively. Simulation results illustrate the correctness of the results.
    No preview · Article · Jun 2009 · International Journal of Systems Science
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    Yang‐Yang Chen · Yu-Ping Tian
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    ABSTRACT: This paper deals with a directed formation control problem of three agents moving in the plane, where the agents have a cyclic ordering with each one required to maintain a nominated distance from its neighbor, and each agent is described by a double integrator. Firstly, a directed formation control law based on the knowledge only of the neighbor's direction is designed by using the integrator backstepping technique, which can not only accomplish the desired triangle formation but also ensure that speeds of all agents converge to a common value without collision between each other during the motion. Then, with the purpose of relaxing and even overcoming the restriction of initial conditions of the agents owing to collision avoidance, we introduce the inter-agent potential functions into the design. The convergence of the proposed control algorithms is proved by using tools from LaSalle's invariance principle. Simulation results are provided to illustrate the effectiveness of the control laws. Copyright © 2008 John Wiley & Sons, Ltd.
    Preview · Article · May 2009 · International Journal of Robust and Nonlinear Control
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    Yu-Ping Tian · Cheng-Lin Liu
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    ABSTRACT: The consensus problem of second-order multi-agent systems with diverse input delays is investigated. Based on the frequency-domain analysis, decentralized consensus conditions are obtained for the multi-agent system with symmetric coupling weights. Then, the robustness of the symmetric system with asymmetric perturbation is studied. A bound of the largest singular value of the perturbation matrix is obtained as the robust consensus condition. Simulation examples illustrate the design procedure of consensus protocols and validate the correctness of the results.
    Full-text · Article · May 2009 · Automatica
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    Ya Zhang · Yu-Ping Tian
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    ABSTRACT: This paper studies the mean square consentability problem for a network of double-integrator agents with stochastic switching topology. It is proved that in Markov-switching topologies, the network is mean square consentable under linear consensus protocol if and only if the union of graphs in the switching topology set has globally reachable nodes. A necessary and sufficient condition of the mean square consensus is obtained. Finally, an LMI approach to the design of the consensus protocol is presented. Numerical simulations are given to illustrate the results.
    Full-text · Article · May 2009 · Automatica
  • Yu-Ping Tian · Cheng-Lin Liu
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    ABSTRACT: The consensus problem for multi-agent systems with input and communication delays is studied based on the frequency-domain analysis. Two decentralized consensus conditions are obtained, one of which is given for the systems based on undirected graphs with diverse input delays and the other is for the systems based on directed graphs with diverse communication delays and input delays. For the systems with both communication delays and input delays, the consensus condition is dependent on input delays but independent of communication delays.
    No preview · Article · Nov 2008 · IEEE Transactions on Automatic Control
  • Jiandong Zhu · Yu-Ping Tian
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    ABSTRACT: In this paper, the stabilizability problem via a generalized delayed feedback control (GDFC) for uncontrollable discrete systems is addressed. For single-input uncontrollable systems, a necessary and sufficient condition of stabilizability via the GDFC is obtained, which completely describes the limitation of the GDFC. For multi-input systems, a new necessary condition is derived, which reveals the limitation of the GDFC more exactly than the odd number limitation. Moreover, for a class of nonlinear systems with uncertain parameters, a nonlinear robust GDFC is designed for the first time to stabilize the unknown fixed points associated with the uncertain parameters.
    No preview · Article · Oct 2008 · Physica D Nonlinear Phenomena
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    Yu-Ping Tian · Cheng-Lin Liu
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    ABSTRACT: This paper studies the consensus problem for multi-agent systems with diverse input and communication delays. Decentralized consensus conditions are obtained based on the frequency-domain analysis and matrix theory. By these conditions, to achieve consensus under large input delays, one should use small interconnection gains or have small numbers of neighbors when the graph is kept connected. For systems with diverse communication delays, a consensus protocol with unified self-delay is proposed. The obtained consensus conditions are dependent on the self-introduced delay but independent of communication delays when the digraph contains a globally reachable node.
    Full-text · Article · Jul 2008
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    Cheng-Lin Liu · Yu-Ping Tian
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    ABSTRACT: In this paper, we investigate coordination of a network of second-order dynamic agents under communication delays. Based on the frequency-domain analysis and matrix theory, the necessary and sufficient conditions for the system converging to stationary consensus and dynamic consensus are obtained, respectively. The conditions depend on the communication delay, the eigenvalues of the Laplacian matrix, and the interconnection topology of the network. Moreover, we apply the consensus algorithm to the formation control of the multi-agent system with communication delays. The agents in the system can achieve arbitrary desired formation pattern, and the formation moves in a desired velocity. Simulation results illustrate the correctness of the results.
    Full-text · Article · Jul 2008
  • Cheng-Lin Liu · Yu-Ping Tian
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    ABSTRACT: In this paper, a time-delayed feedback control method is applied to congestion control in order to eliminate oscillations in the Internet. The stability of the proposed control method is demonstrated based on frequency-domain analysis. The effectiveness of the method is illustrated using simulation.
    No preview · Article · Mar 2008 · Chaos Solitons & Fractals
  • Ya Zhang · Yu-Ping Tian
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    ABSTRACT: This paper discusses the stability of discrete-time networked control systems (NCSs) in which transmission delay is a constant, packet-loss process is described by a Bernoulli model and packet dropping probability is varying and driven by a finite Markov chain. We treat the NCS as a jump linear system. By using the stochastic control theory, a necessary and sufficient condition for mean square stability is obtained. The feedback controller is constructed via solving linear matrix inequalities. Finally, a numerical example is given to show the effectiveness of the proposed approach.
    No preview · Article · Dec 2007 · Dynamics of Continuous, Discrete and Impulsive Systems Series B: Applications and Algorithms
  • Yu-Ping Tian · Ke-Cai Cao
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    ABSTRACT: Global K-exponential controllers are constructed for the tracking control problem of nonholonomic systems in chained-form whose reference targets are allowed to converge to a point exponentially. By using a novel transformation and the cascade-design method, the tracking control problem is converted into stabilization problem of two simple subsystems. Then an LMI design approach is developed for stabilizing subsystems. The assumption on the reference signal is much more relaxed than those given in the previous papers.
    No preview · Conference Paper · Aug 2007
  • Yu-Ping Tian · Ke‐Cai Cao
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    ABSTRACT: In this paper, the authors address the tracking problem for non-holonomic systems in chained form with target signals that may exponentially decay to zero. By introducing a time-varying co-ordinate transformation and using the cascade-design approach, smooth time-varying controllers are constructed, which render the tracking-error dynamics globally -exponentially stable. The result shows that the popular condition of persistent excitation or not converging to zero for the reference signals is not necessary even for the globally -exponential tracking of the chained-form system. The effectiveness of the proposed controller is validated by simulation of two benchmark mechanical systems under non-holonomic constraints. Copyright © 2006 John Wiley & Sons, Ltd.
    No preview · Article · May 2007 · International Journal of Robust and Nonlinear Control