Output Consensus for Heterogeneous Nonlinear Multi-Agent Systems Based on T-S Fuzzy Model

In this paper, the output consensus problem of general heterogeneous nonlinear multi-agent systems subject to different disturbances is considered. A kind of Takagi-Sukeno fuzzy modeling method is used to describe the nonlinear agents' dynamics. Based on the model, a distributed fuzzy observer and controller are designed based on parallel distributed compensation scheme and internal reference models such that the heterogeneous nonlinear multi-agent systems can achieve output consensus. Then a necessary and sufficient condition is presented for the output consensus problem. And it is shown that the consensus trajectory of the global fuzzy model is determined by the network topology and the initial states of the internal reference models. Finally, some simulations are given to illustrate and verify the effectiveness of the proposed scheme.

倍慈模式生计活动对社区精神障碍患者的康复作用

目的探讨参与倍慈模式生计活动对社区精神障碍患者的康复作用。方法以2015年6月1日至12月1日期间加入倍慈精神卫生发展研究项目的精神障碍患者70人作为研究对象，分为研究组35人，对照组35人，研究组在原有药物治疗基础进行倍慈模式生计活动干预12个月；对照组仅接受常规药物治疗。采用世界卫生组织残疾评定量表Ⅱ（WHO—DASⅡ），大体功能量表（GAF）进行评估。结果研究组患者干预后WHO—DASⅡ量表总分[（57．40±23．59）分]、与他人相处[（7．43±4．15）分]、社会参与（9．97±4．99）分]明显低于对照组[（74．17±22．14）分、（11．03±5．12）分、（14．09±4．43）分]；研究组干预后GAF功能得分差值[（11．37±6．19）分]明显高于对照组[（3．20±5．38）分]；多因素Logistic回归分析显示，家庭年收入高（β=3．412，OR=30．325，95％CI=1．634～562．883）、WHO—DasⅡ分数（β=-0．068，OR=0．934，95％CI=0．884～0．987）对社会功能恢复有影响。结论在药物治疗的前提下，倍慈模式生计活动能显著提高社区精神障碍患者的社会功能，降低残疾程度。