Finite-time consensus problem of the leader-following multi-agent system under switching network topologies is studied in this paper.Based on the graph theory,matrix theory,homogeneity with dilation,and LaSalle’s invariance principle,the control protocol of each agent using local information is designed,and the detailed analysis of the leaderfollowing finite-time consensus is provided.Some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.
在无线传感器网络体系结构中,网络层的路由技术至关重要。在分析了低功耗自适应分簇协议(low energyadaptive clustering hierarchy,LEACH)及LEACH相关的路由协议之后,提出一种基于LEACH的能量高效分簇路由算法(energy-efficient clustering routing algorithm based on LEACH,LEACH-EE)的改进算法。网络中所有节点形成固定的分簇,根据簇内节点的剩余能量来依次竞争簇首,同时尽量减少节点与基站之间的通信。簇内成员节点采用流量发送概率的方式向簇首传输数据监测信息。簇间采用多跳方式转发数据,可以有效地避免簇首能量消耗不均衡的问题。NS2仿真实验表明,改进后的算法有效地延长了无线传感器网络的寿命。
