Leader-follower architectureControllabilityTime-varying delayConstrained systemsThe reachability properties of networked leader-follower configurations are analyzed for linear time-invariant systems subject to time-varying delay in the command and measure-ment channels. The novelty of the proposed approach ...
In this note, the distributed event-triggered cooperative attitude control of multiple rigid bodies with leaderfollower architecture is investigated, where both the cases of static and dynamic leaders are all considered. Two distributed triggering procedures are first introduced for the followers and ...
leader/follower解决的问题主要就是IO demultiplexing中不够有效率的地方,leader线程去监听IO,避免多个线程监听造成的race condition,有数据需要处理时,如果自己处理,就叫其他空着的follower去做leader;如果要follower处理,自己可以继续做leader。任何时间,系统都只有一个leader线程在监听IO,而处理IO的,可以有多个线程(通常是...
ZooKeeper Leader选举 ZooKeeper集群中有三种服务器角色:Leader、Follower和Observe。Leader选举是ZooKeeper中最重要的技术之一,也是保证分布式数据一致性的关键所在。 1.ZooKeeper的Leader选举的过程 服务器启动时期的Leader选举 以3台机器组成的服务器集群为例,在服务器集群初始化阶段,当有一台服务... ...
In this paper we investigate the leader follower motion coordination of multiple nonholonomic mobile robots. A combination of the virtual vehicle and trajectory tracking approach is used to derive the formation architecture. A virtual vehicle is steered in such a way it stabilizes to a shifted refere...
In this paper, we develop a novel distributed adaptive control architecture for addressing networked multiagent systems subject to stochastic exogenous disturbances with compromised sensor and actuators. Specifically, for a class of linear leader–follower multiagent systems, we develop a new structure of...
Experimental Implementation of a Leader-Follower Strategy for Quadrotors Using a Distributed ArchitectureNonlinear controlFormation controlQuadrotorThis paper deals with a distributed experimental implementation of a leader-follower coordination scheme using quadrotors. A set of inter-agent distances defines the ...
An Adaptive Control Architecture for Leader-Follower Multiagent Systems with Stochastic Disturbances and Sensor and Actuator Attacksn this work, we present a novel control algorithm for a class of stochastic nonlinear systems with constraint requirement on the system output tracking error. The gain ...
Objectives To solve the formation control problem of leader-follower unmanned surface vehicles (USV) under complex environmental disturbances, a fixed-time control (FTC) approach is proposed in this paper. Methods Fixed-time tracking control based on the integral sliding mode (ISM-FTC) approach is ...
Leader-based Coordination: The system uses a leader-follower model to assign tasks. Only one leader is responsible for assigning tasks to workers. Fault Recovery: Detects worker failures and reassigns incomplete tasks to available workers. At Least Once Execution: Ensures that every task is executed...