Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

Robust adaptive leaderless consensus of unknown non-minimum phase linear multi-agent systems subject to disturbances and/or unmodeled dynamics

This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.

Designing Proportional-Integral Consensus Protocols for Second-Order Multi-Agent Systems Using Delayed and Memorized State Information

This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consensus protocol is designed by using delayed and memorized state information.Under the proportional-integral consensus protocol,the consensus problem of the multi-agent system is transformed into the problem of asymptotic stability of the corresponding linear time-invariant time-delay system.Note that the location of the eigenvalues of the corresponding characteristic function of the linear time-invariant time-delay system not only determines the stability of the system,but also plays a critical role in the dynamic performance of the system.In this paper,based on recent results on the distribution of roots of quasi-polynomials,several necessary conditions for Hurwitz stability for a class of quasi-polynomials are first derived.Then allowable regions of consensus protocol parameters are estimated.Some necessary and sufficient conditions for determining effective protocol parameters are provided.The designed protocol can achieve consensus and improve the dynamic performance of the second-order multi-agent system.Moreover,the effects of delays on consensus of systems of harmonic oscillators/double integrators under proportional-integral consensus protocols are investigated.Furthermore,some results on proportional-integral consensus are derived for a class of high-order linear time-invariant multi-agent systems.

Bipartite consensus problems of Lurie multi-agent systems over signed graphs: A contraction approach

This paper examines the bipartite consensus problems for the nonlinear multi-agent systems in Lurie dynamics form with cooperative and competitive communication between different agents. Based on the contraction theory, some new conditions for the nonlinear Lurie multi-agent systems reaching bipartite leaderless consensus and bipartite tracking consensus are presented. Compared with the traditional methods, this approach degrades the dimensions of the conditions, eliminates some restrictions of the system matrix, and extends the range of the nonlinear function. Finally, two numerical examples are provided to illustrate the efficiency of our results.

Computation Tree Logic Model Checking of Multi-Agent Systems Based on Fuzzy Epistemic Interpreted Systems

Model checking is an automated formal verification method to verify whether epistemic multi-agent systems adhere to property specifications.Although there is an extensive literature on qualitative properties such as safety and liveness,there is still a lack of quantitative and uncertain property verifications for these systems.In uncertain environments,agents must make judicious decisions based on subjective epistemic.To verify epistemic and measurable properties in multi-agent systems,this paper extends fuzzy computation tree logic by introducing epistemic modalities and proposing a new Fuzzy Computation Tree Logic of Knowledge(FCTLK).We represent fuzzy multi-agent systems as distributed knowledge bases with fuzzy epistemic interpreted systems.In addition,we provide a transformation algorithm from fuzzy epistemic interpreted systems to fuzzy Kripke structures,as well as transformation rules from FCTLK formulas to Fuzzy Computation Tree Logic(FCTL)formulas.Accordingly,we transform the FCTLK model checking problem into the FCTL model checking.This enables the verification of FCTLK formulas by using the fuzzy model checking algorithm of FCTL without additional computational overheads.Finally,we present correctness proofs and complexity analyses of the proposed algorithms.Additionally,we further illustrate the practical application of our approach through an example of a train control system.

Hyperbolic Tangent Function-Based Protocols for Global/Semi-Global Finite-Time Consensus of Multi-Agent Systems

This paper investigates the problem of global/semi-global finite-time consensus for integrator-type multi-agent sys-tems.New hyperbolic tangent function-based protocols are pro-posed to achieve global and semi-global finite-time consensus for both single-integrator and double-integrator multi-agent systems with leaderless undirected and leader-following directed commu-nication topologies.These new protocols not only provide an explicit upper-bound estimate for the settling time,but also have a user-prescribed bounded control level.In addition,compared to some existing results based on the saturation function,the pro-posed approach considerably simplifies the protocol design and the stability analysis.Illustrative examples and an application demonstrate the effectiveness of the proposed protocols.

Event-triggered robust cooperative output regulation for a class of linear multi-agent systems with an unknown exosystem

This paper investigates the robust cooperative output regulation problem for a class of heterogeneousuncertain linear multi-agent systems with an unknown exosystem via event-triggered control (ETC). By utilizingthe internal model approach and the adaptive control technique, a distributed adaptive internal model isconstructed for each agent. Then, based on this internal model, a fully distributed ETC strategy composed ofa distributed event-triggered adaptive output feedback control law and a distributed dynamic event-triggeringmechanism is proposed, in which each agent updates its control input at its own triggering time instants. It isshown that under the proposed ETC strategy, the robust cooperative output regulation problem can be solvedwithout requiring either the global information associated with the communication topology or the bounds ofthe uncertain or unknown parameters in each agent and the exosystem. A numerical example is provided toillustrate the effectiveness of the proposed control strategy.

Containment control of heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded delays

This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distributed control strategy that ensures the output of each follower converges to the convex hull formed by the outputs of a group of leaders in mean square sense.A novel distributed observer is proposed by tackling both Markovian randomly switching topologies and unbounded delays.Then,a distributed state feedback controller and a distributed output feedback controller are developed based on the distributed observer,respectively.Finally,simulation results are provided to demonstrate the effectiveness of the proposed controllers.

Learning the parameters of a class of stochastic Lotka-Volterra systems with neural networks

In this paper,we propose a neural network approach to learn the parameters of a class of stochastic Lotka-Volterra systems.Approximations of the mean and covariance matrix of the observational variables are obtained from the Euler-Maruyama discretization of the underlying stochastic differential equations(SDEs),based on which the loss function is built.The stochastic gradient descent method is applied in the neural network training.Numerical experiments demonstrate the effectiveness of our method.

Dynamic Interaction Analysis of Coupled Axial-Torsional-Lateral Mechanical Vibrations in Rotary Drilling Systems

Maintaining the integrity and longevity of structures is essential in many industries,such as aerospace,nuclear,and petroleum.To achieve the cost-effectiveness of large-scale systems in petroleum drilling,a strong emphasis on structural durability and monitoring is required.This study focuses on the mechanical vibrations that occur in rotary drilling systems,which have a substantial impact on the structural integrity of drilling equipment.The study specifically investigates axial,torsional,and lateral vibrations,which might lead to negative consequences such as bit-bounce,chaotic whirling,and high-frequency stick-slip.These events not only hinder the efficiency of drilling but also lead to exhaustion and harm to the system’s components since they are difficult to be detected and controlled in real time.The study investigates the dynamic interactions of these vibrations,specifically in their high-frequency modes,usingfield data obtained from measurement while drilling.Thefindings have demonstrated the effect of strong coupling between the high-frequency modes of these vibrations on drilling sys-tem performance.The obtained results highlight the importance of considering the interconnected impacts of these vibrations when designing and implementing robust control systems.Therefore,integrating these compo-nents can increase the durability of drill bits and drill strings,as well as improve the ability to monitor and detect damage.Moreover,by exploiting thesefindings,the assessment of structural resilience in rotary drilling systems can be enhanced.Furthermore,the study demonstrates the capacity of structural health monitoring to improve the quality,dependability,and efficiency of rotary drilling systems in the petroleum industry.

Distributed Adaptive Predefined-Time Bipartite Containment Algorithm for Nonlinear Multi-Agent Systems with Actuator Faults

Distributed adaptive predefined-time bipartite containment for a class of second-order nonlinear multi-agent systems are studied with actuator faults.The communication topology of multi-agent systems is fixed and directed.To ensure that followers can reach the convex hull spanned by leaders under the conditions of actuator faults,the sliding mode method is introduced.Control protocol for multi-agent systems demonstrates its effectiveness.Finally,simulations are provided to verify the effectiveness of the proposed algorithm.

Mechanistic insights into the amelioration effects of diabetic cardiomyopathy by berberine:an integrated systems pharmacology study and experimental validation

Background:Diabetic cardiomyopathy(DCM)is a type of cardiomyopathy caused by long-term diabetes,characterized by abnormal myocardial structure and function,which can lead to heart failure.Berberine(BBR),a quaternary ammonium alkaloid isolated from Coptidis Rhizoma,a traditional Chinese medicine,has superior anti-diabetic and heart-protective properties.The purpose of this study is to assess the impact of BBR on DCM.Methods:This study used a systems pharmacology approach to evaluate the related proteins and signalling pathways between BBR and DCM targets,combined with experimental validation using diabetic mouse heart sections.Microstructural and pathological changes were observed using Hematoxylin-eosin,Masson’s trichrome stain and wheat germ agglutinin staining.Immunofluorescence and western blot were used to determine protein expression.Results:The results indicate that BBR and DCM share 21 core relevant targets,with cross-targets predominantly located in mitochondrial,endoplasmic reticulum,and plasma membrane components.BBR exerts its main effects in improving DCM by maintaining mitochondrial integrity,particularly involving the PI3K-AKT-GSK3βand apoptosis signalling pathways.In addition,post-treatment changes in the key targets of BBR,including cysteine aspartate specific protease(Caspase)-3,phosphoinositide 3-kinase(PI3K)and mitochondria-related proteins,are suggestive of its efficacy.Conclusion:BBR crucially improves DCM by maintaining mitochondrial integrity,inhibiting apoptosis,and modulating PI3K-AKT-GSK3βsignaling.Further studies must address animal model limitations and validate clinical efficacy to understand BBR’s mechanisms fully and its potential clinical use.

Neurotransmitter-mediated artificial synapses based on organic electrochemical transistors for future biomimic and bioinspired neuromorphic systems

Organic electrochemical transistors have emerged as a solution for artificial synapses that mimic the neural functions of the brain structure,holding great potentials to break the bottleneck of von Neumann architectures.However,current artificial synapses rely primarily on electrical signals,and little attention has been paid to the vital role of neurotransmitter-mediated artificial synapses.Dopamine is a key neurotransmitter associated with emotion regulation and cognitive processes that needs to be monitored in real time to advance the development of disease diagnostics and neuroscience.To provide insights into the development of artificial synapses with neurotransmitter involvement,this review proposes three steps towards future biomimic and bioinspired neuromorphic systems.We first summarize OECT-based dopamine detection devices,and then review advances in neurotransmitter-mediated artificial synapses and resultant advanced neuromorphic systems.Finally,by exploring the challenges and opportunities related to such neuromorphic systems,we provide a perspective on the future development of biomimetic and bioinspired neuromorphic systems.

Analysis of Renewable Energy Absorption and Economic Feasibility in Multi-Energy Complementary Systems under Spot Market Conditions

As the power system transitions to a new green and low-carbon paradigm,the penetration of renewable energy in China’s power system is gradually increasing.However,the variability and uncertainty of renewable energy output limit its profitability in the electricity market and hinder its market-based integration.This paper first constructs a wind-solar-thermalmulti-energy complementary system,analyzes its external game relationships,and develops a bi-level market optimization model.Then,it considers the contribution levels of internal participants to establish a comprehensive internal distribution evaluation index system.Finally,simulation studies using the IEEE 30-bus system demonstrate that the multi-energy complementary system stabilizes nodal outputs,enhances the profitability of market participants,and promotes the market-based integration of renewable energy.

Unleashing the Power of Multi-Agent Reinforcement Learning for Algorithmic Trading in the Digital Financial Frontier and Enterprise Information Systems

In the rapidly evolving landscape of today’s digital economy,Financial Technology(Fintech)emerges as a trans-formative force,propelled by the dynamic synergy between Artificial Intelligence(AI)and Algorithmic Trading.Our in-depth investigation delves into the intricacies of merging Multi-Agent Reinforcement Learning(MARL)and Explainable AI(XAI)within Fintech,aiming to refine Algorithmic Trading strategies.Through meticulous examination,we uncover the nuanced interactions of AI-driven agents as they collaborate and compete within the financial realm,employing sophisticated deep learning techniques to enhance the clarity and adaptability of trading decisions.These AI-infused Fintech platforms harness collective intelligence to unearth trends,mitigate risks,and provide tailored financial guidance,fostering benefits for individuals and enterprises navigating the digital landscape.Our research holds the potential to revolutionize finance,opening doors to fresh avenues for investment and asset management in the digital age.Additionally,our statistical evaluation yields encouraging results,with metrics such as Accuracy=0.85,Precision=0.88,and F1 Score=0.86,reaffirming the efficacy of our approach within Fintech and emphasizing its reliability and innovative prowess.

A PI+R Control Scheme Based on Multi-Agent Systems for Economic Dispatch in Isolated BESSs

Battery energy storage systems(BESSs)are widely used in smart grids.However,power consumed by inner impedance and the capacity degradation of each battery unit become particularly severe,which has resulted in an increase in operating costs.The general economic dispatch(ED)algorithm based on marginal cost(MC)consensus is usually a proportional(P)controller,which encounters the defects of slow convergence speed and low control accuracy.In order to solve the distributed ED problem of the isolated BESS network with excellent dynamic and steady-state performance,we attempt to design a proportional integral(PI)controller with a reset mechanism(PI+R)to asymptotically promote MC consensus and total power mismatch towards 0 in this paper.To be frank,the integral term in the PI controller is reset to 0 at an appropriate time when the proportional term undergoes a zero crossing,which accelerates convergence,improves control accuracy,and avoids overshoot.The eigenvalues of the system under a PI+R controller is well analyzed,ensuring the regularity of the system and enabling the reset mechanism.To ensure supply and demand balance within the isolated BESSs,a centralized reset mechanism is introduced,so that the controller is distributed in a flow set and centralized in a jump set.To cope with Zeno behavior and input delay,a dwell time that the system resides in a flow set is given.Based on this,the system with input delays can be reduced to a time-delay free system.Considering the capacity limitation of the battery,a modified MC scheme with PI+R controller is designed.The correctness of the designed scheme is verified through relevant simulations.

Status analysis on sputtering and erosion evaluation methods of ion optic systems

In the past few decades,ion engines have been widely used in deep-space propulsion and satellite station-keeping.The aim of extending the thruster lifetime is still one of the most important parts during the design stage of ion engine.As one of the core components of ion engine,the grid assembly of ion optic systems may experience long-term ion sputtering in extreme electro-thermal environments,which will eventually lead to its structural and electron-backstreaming failures.In this paper,the current studies of the grid assembly erosion process are systematically analyzed from the aspects of sputtering damage process of grid materials,numerical simulations,and measurements of erosion characteristics of grid assembly.The advantages and disadvantages of various erosion prediction models are highlighted,and the key factors and processes affecting the prediction accuracy of grid assembly erosion patterns are analyzed.Three different types of experimental methods of grid assembly erosion patterns are compared.The analysis in this paper is of great importance for selecting the sputter-resistant grid materials,as well as establishing the erosion models and measurement methods to accurately determine the erosion rate and failure modes of grid assembly.Consequently,the working conditions and structure parameters of ion optic systems could be optimized based on erosion models to promote the ion engine lifetime.

Improving gastrointestinal scoring systems for predicting short-term mortality in critically ill patients

Shen et al’s retrospective study aims to compare the utility of two separate scoring systems for predicting mortality attributable to gastrointestinal(GI)injury in critically ill patients[the GI Dysfunction Score(GIDS)and the Acute Gastroin-testinal Injury(AGI)grade].The authors note that this study is the first proposal that suggests an equivalence between the ability of both scores to predict mor-tality at 28 days from intensive care unit(ICU)admission.Shen et al retrospec-tively analysed an ICU cohort of patients utilising two physicians administering both the AGI grade and GIDS score,using electronic healthcare records and ICU flowsheets.Where these physicians disagreed about the scores,the final decision as to the scores was made by an associate chief physician,or chief physician.We note that the primary reason for the development of GIDS was to create a clear score for GI dysfunction,with minimal subjectivity or inter-operator variability.The subjectivity inherent to the older AGI grading system is what ultimately led to the development of GIDS in 2021.By ensuring consensus between physicians administering the AGI,Shen et al have controlled for one of this grading systems biggest issues.We have concerns,however,that this does not represent the real-world challenges associated with applying the AGI compared to the newer GIDS,and wonder if this arbitration process had not been instituted,would the two scoring systems remain equivalent in terms of predicted mortality?

Dynamical complexity of Anosov systems driven by a quasi-periodic force

Consider C^(2)Anosov systems on a compact manifold driven by a quasi-periodic force.We study their dynamical complexity on various levels from the perspectives of both path-wise dynamics and stochastic processes.Assuming that these systems are non-wandering(i.e.,every point in the phase space is nonwandering),we prove a set of results:(1)the existence of abundance of random periodic points;(2)a random Livsic theorem;(3)a random Mañé-Bousch-Conze-Guivarc'h lemma;(4)the existence of strong random horseshoes.Additionally,a concrete example constructed on a 2-dimensional torus is also given to uncover some interesting phenomena of the systems.

基于MAS(Multi-AgentSystem)的多机器人系统:协作多机器人学发展的一个重要方向

机器人的应用方式正在由部件式单元应用向系统式应用方向发展 .这是实际应用的需要 ,也是技术发展的必然趋势 ;相关技术如计算机网络技术的发展也为它的实现提供了相应支持 .多机器人协作理论问题必然也已经成为机器人学研究的一个热点 ,其中 ,分布式人工智能 ( DAI)中的多智能体 (代理 )系统 ( MAS:Multi-agentSystem)理论已引起多机器人协作理论研究者的关注 .本文即在揭示协作多机器人系统与 MAS的内在联系的基础上 ,指出基于 MAS的协作多机器人系统是协作多机器人学发展的一个重要方向 .