Guaranteed cost consensus problems for multi-agent systems with switching topologies are investigated. Firstly, guaranteed cost consensus for multi-agent systems is introduced based on state errors among neighboring agents and control inputs of all agents, where a tradeoff between the consensus regulation performance and the control effort is considered. Then, a sufficient condition for guaranteed cost consensus is given by the state-space decomposition approach and the Lyapunov method, where an upper bound of the cost function is determined and an approach is proposed to determine the control gain. It is worth mentioning that the criterions for guaranteed cost consensus are only dependent on the maximum eigenvalue of the Laplacian matrices of switching topologies. Finally, numerical simulations are given to demonstrate theoretical results. more challenging. Cao and Ren [16] studied the consensus problems with undirected and directed topologies with a sampled-data setting. In [17], the consensus for multi-agent systems with directed topologies was considered. Xi et al. [18] investigated consensus problems by the partial stability method, where the interaction topologies for multi-agent systems were directed. In [19], linear matrix inequality (LMI) criterions for consensus problems of multi-agent systems with bounded time-varying delays were presented. In [20], the cases with unbounded time-varying delays were dealt with. Ma and Zhang [21] showed that both the dynamic structure of each agent and interaction topologies impact on the consensualizability properties of multi-agent systems.It should be pointed out that consensus problems for multi-agent systems with switching topologies are more complicated because the neighboring set of each agent is time varying. The consensus problems for multi-agent systems were studied in [22], where it was assumed that all the possible topologies were undirected and connected. Su and Huang [23] relaxed the connection conditions in [22] to the joint connection cases. In [24][25][26][27][28][29], consensus problems for multi-agent systems with switching directed topologies were investigated. In [24], it was shown that consensus can be achieved asymptotically if the joint topology of the directed topologies had a spanning tree frequently enough as multi-agent systems evolve. Xiao and Wang [25] investigated consensus problems with bounded time-varying delays based on the properties of non-negative matrices. In [26], sufficient conditions for consensus of multi-agent systems with constant time delays and finite timevarying delays were given by LMIs. The consensus control problems for discrete-time multi-agent systems with stochastic noises were considered in [27]. Münz et al. [28] addressed the cases with arbitrarily large time delays, where a spanning tree should be contained in the joint topology of switching topologies in finite time. The paper [29] was devoted to the consensus problem of multiagent systems with switching topologies, where external disturbance was considered. It s...

Guaranteed cost consensus for second-order multi-agent systems with fixed topologies are investigated. Firstly, a cost function is constructed based on state errors among neighbouring agents and control inputs of all the agents, which is to find a tradeoff between the consensus regulation performance and the control energy consumption. Secondly, by the state-space decomposition approach and the Lyapunov method, a sufficient condition for the guaranteed cost consensus is presented and an upper bound of the cost function is given. It should be pointed out that these criteria are related to the second smallest and the maximum eigenvalues of the Laplacian matrix associated with the interaction topology. Thirdly, an approach is presented to obtain the consensus function when second-order multi-agent systems achieve guaranteed cost consensus. Finally, numerical simulations are given to demonstrate theoretical results.

Guaranteed cost consensus analysis and design problems for multi-agent systems with fixed interaction topologies are investigated. Guaranteed cost consensus problems for multi-agent systems are introduced to obtain a tradeoff between the consensus regulation performance and the energy consumption, where a cost function is constructed based on state errors among neighboring agents and control inputs of all agents. Sufficient conditions for guaranteed cost consensus and consensualization are given by the state space decomposition approach and the Lyapunov method, an upper bound of the cost function and the consensus value are determined respectively. It should be pointed out that these criteria of guaranteed cost consensus and consensualization are only related to the maximum eigenvalue of the Laplacian matrix associated with the interaction topology. A numerical simulation is given to show the effectiveness of the theoretical results.

Swarm-stability and swarm-stabilisation problems for high-order linear time-invariant singular multi-agent systems with directed networks are investigated. First, necessary and sufficient conditions for swarm stability and asymptotic swarm stability are proposed, which are independent of the dimensions of Jordan blocks of the Laplacian matrix of the interaction topology. Then, an approach is given to determine the absolute motion as a whole, and it is shown that the absolute motion is completely determined by initial states if the interaction topology is balanced. Furthermore, an approach is presented to determine gain matrices for asymptotic swarm stabilisation. Moreover, leader-following swarm-stability and swarm-stabilisation problems are investigated. Finally, numerical examples are given to demonstrate theoretical results.

This paper presents PARD, a programmable architecture for resourcing-on-demand that provides a new programming interface to convey an application's high-level information like quality-ofservice requirements to the hardware. PARD enables new functionalities like fully hardware-supported virtualization and differentiated services in computers.PARD is inspired by the observation that a computer is inherently a network in which hardware components communicate via packets (e.g., over the NoC or PCIe). We apply principles of software-defined networking to this intra-computer network and address three major challenges. First, to deal with the semantic gap between high-level applications and underlying hardware packets, PARD attaches a high-level semantic tag (e.g., a virtual machine or thread ID) to each memory-access, I/O, or interrupt packet. Second, to make hardware components more manageable, PARD implements programmable control planes that can be integrated into various shared resources (e.g., cache, DRAM, and I/O devices) and can differentially process packets according to tag-based rules. Third, to facilitate programming, PARD abstracts all control planes as a device file tree to provide a uniform programming interface via which users create and apply tag-based rules.Full-system simulation results show that by co-locating latencycritical memcached applications with other workloads PARD can improve a four-core computer's CPU utilization by up to a factor of four without significantly increasing tail latency. FPGA emulation based on a preliminary RTL implementation demonstrates that the cache control plane introduces no extra latency and that the memory control plane can reduce queueing delay for high-priority memory-access requests by up to a factor of 5.6.