Event-Triggered Zero-Gradient-Sum Distributed Algorithm for Convex Optimization with Time-Varying Communication Delays and Switching Directed Topologies

Nowadays, distributed optimization algorithms are widely used in various complex networks. In order to expand the theory of distributed optimization algorithms in the direction of directed graph, the distributed convex optimization problem with time-varying delays and switching topologies in the case of directed graph topology is studied. The event-triggered communication mechanism is adopted, that is, the communication between agents is determined by the trigger conditions, and the information exchange is carried out only when the conditions are met. Compared with continuous communication, this greatly saves network resources and reduces communication cost. Using Lyapunov-Krasovskii function method and inequality analysis, a new sufficient condition is proposed to ensure that the agent state finally reaches the optimal state. The upper bound of the maximum allowable delay is given. In addition, Zeno behavior will be proved not to exist during the operation of the algorithm. Finally, a simulation example is given to illustrate the correctness of the results in this paper.

Distributed Secondary Control of AC Microgrids With External Disturbances and Directed Communication Topologies:A Full-Order Sliding-Mode Approach

This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.

Multiple Unmanned Underwater Vehicles Consensus Control with Unmeasurable Velocity Information and Environmental Disturbances Under Switching Directed Topologies

A consensus algorithm proposed in the paper is applied to tackle remarkable problems of unmeasurable velocities,the environmental disturbances, and the limited communication environment for the multiple unmanned underwater vehicles(multi-UUVs). Firstly, for a complex nonlinear and coupled model of the unmanned underwater vehicle(UUV), a technique of feedback linearization is developed to transform the nonlinear UUV model into a secondorder integral UUV model. Secondly, to address the problem of the unavailable velocity information and environmental disturbances for the multi-UUVs system, we design a distributed extended state observer(DESO) to estimate the unmeasurable velocities and environmental disturbances using the relative position information. Finally,we propose a protocol based on the estimation information from the DESO and demonstrate that the multi-UUVs system with the switching directed topologies under the protocol can reach consensus asymptotically. The theoretical result proposed in the literature is verified by one numerical example.

Consensus Control of Leader-Following Multi-Agent Systems in Directed Topology With Heterogeneous Disturbances

This paper investigates the consensus problem for linear multi-agent systems with the heterogeneous disturbances generated by the Brown motion.Its main contribution is that a control scheme is designed to achieve the dynamic consensus for the multi-agent systems in directed topology interfered by stochastic noise.In traditional ways,the coupling weights depending on the communication structure are static.A new distributed controller is designed based on Riccati inequalities,while updating the coupling weights associated with the gain matrix by state errors between adjacent agents.By introducing time-varying coupling weights into this novel control law,the state errors between leader and followers asymptotically converge to the minimum value utilizing the local interaction.Through the Lyapunov directed method and It?formula,the stability of the closed-loop system with the proposed control law is analyzed.Two simulation results conducted by the new and traditional schemes are presented to demonstrate the effectiveness and advantage of the developed control method.

Multi-agent consensus with time-varying delays and switching topologies

The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.

Distributed Fault-Tolerant Containment Control for Nonlinear Multi-Agent Systems Under Directed Network Topology via Hierarchical Approach

This paper investigates the distributed fault-tolerant containment control(FTCC)problem of nonlinear multi-agent systems(MASs)under a directed network topology.The proposed control framework which is independent on the global information about the communication topology consists of two layers.Different from most existing distributed fault-tolerant control(FTC)protocols where the fault in one agent may propagate over network,the developed control method can eliminate the phenomenon of fault propagation.Based on the hierarchical control strategy,the FTCC problem with a directed graph can be simplified to the distributed containment control of the upper layer and the fault-tolerant tracking control of the lower layer.Finally,simulation results are given to demonstrate the effectiveness of the proposed control protocol.

Time-varying formation for general linear multi-agent systems via distributed event-triggered control under switching topologies

This paper investigates the time-varying formation problem for general linear multi-agent systems using distributed event-triggered control strategy.Different from the previous works,to achieve the desired time-varying formation,a distributed control scheme is designed in an event-triggered way,in which for each agent the controller is triggered only at its own event times.The interaction topology among agents is assumed to be switching.The common Lyapunov function as well as Riccati inequality is applied to solve the time-varying formation problem.Moreover,the Zeno behavior of triggering time sequences can be excluded for each agent.Finally,a simulation example is presented to illustrate the effectiveness of the theoretical results.

Consensus of multiple autonomous underwater vehicles with double independent Markovian switching topologies and timevarying delays

A new method in which the consensus algorithm is used to solve the coordinate control problems of leaderless multiple autonomous underwater vehicles（multi-AUVs） with double independent Markovian switching communication topologies and time-varying delays among the underwater sensors is investigated.This is accomplished by first dividing the communication topology into two different switching parts,i.e.,velocity and position,to reduce the data capacity per data package sent between the multi-AUVs in the ocean.Then,the state feedback linearization is used to simplify and rewrite the complex nonlinear and coupled mathematical model of the AUVs into a double-integrator dynamic model.Consequently,coordinate control of the multi-AUVs is regarded as an approximating consensus problem with various time-varying delays and velocity and position topologies.Considering these factors,sufficient conditions of consensus control are proposed and analyzed and the stability of the multi-AUVs is proven by Lyapunov-Krasovskii theorem.Finally,simulation results that validate the theoretical results are presented.

Consensus of high-order dynamic multi-agent systems with switching topology and time-varying delays

This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.

Definitions of Natural-Language Spatial Relations: Combining Topology and Directions

Because SQL for querying data from spatial databa se s is ineffective, the query based on natural or visual language becomes an attra ctive research field gradually. However, how to define and represent natural lan guages related to spatial data are still gigantic problems. Because existing mod els of direction relations can’t describe by use of some common concepts. First of all, detailed direction relations are proposed to describe the directions re lated to the interior of spatial objects, such as "east part of a region","ea st boundary of a region", and so on. Secondly, by integrating the detailed dire ctions with exterior direction relations and topological relations, several NLSR s are defined, such as "a road goes across the east part of a lake", "a river goes along the east boundary of a province", etc. Finally, based on the NLSRs abovementioned, a natural spatial query language (NSQL) is formed to retrieve da ta from spatial databases.

Tracking problem under a time-varying topology

This paper studies the multi-agent tracking problem of a third-order maneuvering target under uncertain communication environments. Each tracking agent is assumed to be a third-order system and can only use its own and neighbors＇ position, velocity, and acceleration information to design its control input. In this work, the uncertain communication environments are modelled by a finite number of constant Laplacian matrices together with their corresponding scheduling functions. Sufficient conditions for the existence of a tracking strategy have been expressed in terms of the solvability of linear matrix inequalities. Finally, a numerical example is employed to demonstrate the effectiveness of the proposed tracking strategy.

On Inverse Limits and Direct Limits for Fuzzy Topological Spaces

Li has introduced the concepts of inverse system and direct system for fuzzy topological spaces and studied inverse limits and direct limits on such spaces by presenting the explicit constructions of these limits.In this paper some important concepts of fuzzy topology,such as,product fuzzy topology,quotient fuzzy topology,fuzzy continuity etc.,are used for further study of inverse limits and direct limits for fuzzy topological spaces.

基于新能源-负荷相似性的源荷储协调调峰优化调度

合理利用可调节负荷的响应特性来实现源荷储的协调调度,可有效缓解新能源、负荷的不确定性所带来的调峰压力。基于新能源-负荷(NER-L)相似性,建立可调节负荷响应目标。基于相关系数,建立能准确刻画负荷对新能源出力跟踪匹配程度的NER-L相似性指标,并将指标引入所建源荷储协调调峰的双阶段优化调度模型。第一阶段模型以NER-L相关系数最大为目标,确定可调节负荷在各时段的响应功率并获得最优电网负荷;第二阶段模型以弃风弃光量最小、调峰运行成本最低为目标,优化火电机组及储能出力。以IEEE 30节点系统为例,对NER-L相似性、净负荷峰谷差、系统调峰运行经济性及新能源弃电功率进行计算分析,结果验证了所提模型的有效性。

基于模体和复杂网络的成都市交通旅客出行研究

设计出行模体模型,对旅客出行序列进行抽取转化,构建基于铁路和航空出行旅客的出行模体,基于四川省成都市的旅客出行数据进行实证分析。2节点至4节点构成的旅客出行模体,可以表示绝大多数的旅客出行模式。主要出行模体为2个节点间的单向单次出行和往返出行,并且随时间推移,铁路出行对用户的吸引力逐渐增加,航空出行逐渐减少。研究铁路旅客出行网络和航空旅客出行网络特征,2种出行网络均为异质性网络,网络中大度节点倾向于连接小度节点,网络聚类系数较大,网络中不同站点连接紧密。成都市的铁路人群出行网络结构稳定且大多集中于我国东南部地区,航空出行网络逐步发展且具有更高的分散性。网络效率研究结果表明,旅客出行网络连通性一般,多集中在特定地区。

A DIRECTED GRAPH ALGORITHM OF VARIATIONAL GEOMETRY BASED ON GEOMETRIC REASONING

The undirected graph to express engineering drawings is discussed .The principle to re-solve and reason the undirected graph is presented, and the algorithm finally transforms theundirected graph into the resolvable directed graph. Therefore,a rapid and simple way is suppliedfor variational design. A prototype of this algorithm has been implemented, and some examplesare given.

Robust leaderless time-varying formation control for unmanned aerial vehicle swarm system with Lipschitz nonlinear dynamics and directed switching topologies

This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accomplish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual leader UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm system formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algorithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elaborated to verify the validity of the proposed approach.

集成LCC-S拓扑的二维全向无线电能传输系统无盲区能量捕获方法研究

针对二维全向无线电能传输技术存在空间磁场完整度与电流控制策略复杂度的竞争问题,该文提出一种集成LCC-S拓扑的二维全向无线电能传输系统无盲区能量捕获方法。该系统以二维正交线圈为电磁耦合机构,并将其集成于LCC-S型补偿拓扑。同时提出一种自调整参数设计方法,实现系统在二维空间内产生时均旋转磁场以及系统的零相角输入。通过场-路耦合有限元模型分析系统在二维空间内磁场分布情况,随时间峰值磁场强度矢量轨迹为圆形。搭建集成型二维全向无线电能传输的实验样机,实验结果表明,该系统实现单一电源驱动下无盲区的二维全向电磁能量捕获。

拓扑空间中的理想收敛

用理想收敛结构解决定向拓扑的刻画问题,给出理想S极限和理想广义S极限可拓扑化的充要条件.结果表明:T0拓扑空间上的定向拓扑、理想S极限拓扑和理想广义S极限拓扑相同;定向空间中的理想S收敛是拓扑的当且仅当其为c-空间;定向空间中理想广义S收敛是拓扑的当且仅当其为局部强紧空间.