Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader

This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy.

DESIGN AND ANALYSIS FOR NEW DISCRETE TRACKING-DIFFERENTIATORS

In this paper,some kinds of linear and nonlinear tracking-differentiators are designed by using suitable exponent functions instead of switch functions,and the stability of these tracking-differentiators is proved.From the result of simulations,it is manifest that the tracking speeds of these kinds of linear and nonlinear tracking-differentiators are very high,and their design procedures are simple.

Stable Transition of Quadruped Rhythmic Motion Using the Tracking Differentiator

Since the quadruped robot possesses predominant environmental adaptability,it is expected to be employed in nature environments. In some situations,such as ice surface and tight space,the quadruped robot is required to lower the height of center of gravity( COG) to enhance the stability and maneuverability. To properly handle these situations,a quadruped controller based on the central pattern generator( CPG) model,the discrete tracking differentiator( TD) and proportional-derivative( PD) sub-controllers is presented. The CPG is used to generate basic rhythmic motion for the quadruped robot. The discrete TD is not only creatively employed to implement the transition between two different rhythmic medium values of the CPG which results in the adjustment of the height of COG of the quadruped robot,but also modified to control the transition duration which enables the quadruped robot to achieve the stable transition. Additionally,two specific PD sub-controllers are constructed to adjust the oscillation amplitude of the CPG,so as to avoid the severe deviation in the transverse direction during transition locomotion. Finally,the controller is validated on a quadruped model. A tunnel with variable height is built for the quadruped model to travel through. The simulation demonstrates the severe deviation without the PD sub-controllers,and the reduced deviation with the PD sub-controllers.

Bounded consensus tracking of second-order multi-agent systems with sampling delay under directed networks

The bounded consensus tracking problems of second-order multi-agent systems under directed networks with sam- pling delay are addressed in this paper. When the sampling delay is more than a sampling period, new protocols based on sampled-data control are proposed so that each agent can track the time-varying reference state of the virtual leader. By using the delay decomposition approach, the augmented matrix method, and the frequency domain analysis, necessary and sufficient conditions are obtained, which guarantee that the bounded consensus tracking is realized. Furthermore, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

Design of a Modified Tracking Differentiator

A modified tracking differentiator is proposed. Firstly, a nonlinear odd exponent continuous function is adopted which is only stable at one equilibrium point and proved the global asymptotic stability of the modified tracking differentiator by select a Lyapunov function. Through combining of the nonlinear and linear function properly, it can be sure that the state converges to the equilibrium point with high speed automatically no matter that the state was far away from the equilibrium point or near to it, and it can prevent the chattering.?Simulation results show that the modified tracking differentiator tracking results?are?superior to the classical nonlinear tracking differentiator, and the response?of state variables tracking differentiator estimated?is?almost coincide with the real state of the variables of the given system.

Approximate Controllability of Second-Order Neutral Stochastic Differential Equations with Infinite Delay and Poisson Jumps

The modelling of risky asset by stochastic processes with continuous paths, based on Brow- nian motions, suffers from several defects. First, the path continuity assumption does not seem reason- able in view of the possibility of sudden price variations （jumps） resulting of market crashes. A solution is to use stochastic processes with jumps, that will account for sudden variations of the asset prices. On the other hand, such jump models are generally based on the Poisson random measure. Many popular economic and financial models described by stochastic differential equations with Poisson jumps. This paper deals with the approximate controllability of a class of second-order neutral stochastic differential equations with infinite delay and Poisson jumps. By using the cosine family of operators, stochastic analysis techniques, a new set of sufficient conditions are derived for the approximate controllability of the above control system. An example is provided to illustrate the obtained theory.

ON GLOBAL MEROMORPHIC SOLUTIONS OF SECOND-ORDER LINEAR DIFFERENTIAL EQUATIONS WITH MEROMORPHIC COEFFICIENTS

The main purpose of this article is to study the existence theories of global meromorphic solutions for some second-order linear differential equations with meromorphic coefficients, which perfect the solution theory of such equations.

Differential Quadrature Method for Steady Flow of an Incompressible Second-Order Viscoelastic Fluid and Heat Transfer Model

The two-dimensional steady flow of an incompressible second-order viscoelastic fluid between two parallel plates was studied in terms of vorticity, the stream function and temperature equations. The governing equations were expanded with respect to a snmll parameter to get the zeroth- and first-order approximate equations. By using the differenl2al quadrature method with only a few grid points, the high-accurate numerical results were obtained.

Oscillation of a Second-order Impulsive Neutral Differential Equation

Oscillation theorems for a second-order impulsive neutral differential equation are established, which extend the main results developed by Li et alLi et al, Oscillation of second order self-coajugate differential equation with impuls[es. J Comput Appl Math 197（2006）： 78-88] to the considered equation. Two examples are also inserted to illustrate our main results.

Adaptive saturated tracking control for solid launch vehicles in ascending based on differential inclusion stabilization

The large-range uncertainties of specific impulse,mass flow per second,aerodynamic coefficients and atmospheric density during rapid turning in solid launch vehicles(SLVs) ascending leads to the deviation of the actual trajectory from the reference one.One of the traditional trajectory tracking methods is to observe the uncertainties by Extended State Observer(ESO) and then modify the control commands.However,ESO cannot accurately estimate the uncertainties when the uncertainty ranges are large,which reduces the guidance accuracy.This paper introduces differential inclusion(DI) and designs a controller to solve the large-range parameter uncertainties problem.When above uncertainties have large ranges,it can be combined with the ascent dynamic equation and described as a DI system in the mathematical form of a set.If the DI system is stabilized,all the subsets are stabilized.Different from the traditional controllers,the parameters of the designed controller are calculated by the uncertain boundaries.Therefore,the controller can solve the problem of large-range parameter uncertainties of in ascending.Firstly,the ascent deviation system is obtained by linearization along the reference trajectory.The trajectory tracking system with engine parameters and aerodynamic uncertainties is described as an ascent DI system with respect to state deviation,which is called DI system.A DI adaptive saturation tracking controller(DIAST) is proposed to stabilize the DI system.Secondly,an improved barrier Lyapunov function(named time-varying tangent-log barrier Lyapunov function) is proposed to constrain the state deviations.Compared with traditional barrier Lyapunov function,it can dynamically adjust the boundary of deviation convergence,which improve the convergence rate and accuracy of altitude,velocity and LTIA deviation.In addition,the correction amplitudes of angle of attack(AOA) and angle of sideslip(AOS) need to be limited in order to guarantee that the overload constraint is not violated during actual flight.In this paper,a fixed time adaptive saturation compensation auxiliary system is designed to shorten the saturation time and accelerate the convergence rate,which eliminates the adverse effects caused by the saturation.Finally,it is proved that the state deviations are ultimately uniformly bounded under the action of DIAST controller.Simulation results show that the DI ascent tracking system is stabilized within the given uncertainty boundary values.The feasible bounds of uncertainty is broadened compared with Integrated Guidance and Control algorithm.Compared with Robust Gain-Scheduling Control method,the robustness to the engine parameters are greatly improved and the control variable is smoother.

Criteria for System of Three Second-Order Ordinary Differential Equations to Be Reduced to a Linear System via Restricted Class of Point Transformation

This paper is devoted to the study of the linearization problem of system of three second-order ordinary differential equations and . The necessary conditions for linearization by general point transformation and are found. The sufficient conditions for linearization by restricted class of point transformation and are obtained. Moreover, the procedure for obtaining the linearizing transformation is provided in explicit forms. Examples demonstrating the procedure of using the linearization theorems are presented.

Hyers-Ulam Stability of a Generalized Second-Order Nonlinear Differential Equation

In this paper we have established the stability of a generalized nonlinear second-order differential equation in the sense of Hyers and Ulam. We also have proved the Hyers-Ulam stability of Emden-Fowler type equation with initial conditions.

New Interval Oscillation Criteria for Forced Second-order Half-linear Differential Equations

This paper discusses a class of forced second-order half-linear differential equations. By using the generalized Riccati technique and the averaging technique, some new interval oscillation criteria are obtained.

SINE TRANSFORM PRECONDITIONERS FOR SECOND-ORDER PARTIAL DIFFERENTIAL EQUATIONS

In this paper, we are concerned with the numerical solution of second-order partial differential equations. We analyse the use of the Sine Transform precondilioners for the solution of linear systems arising from the discretization of p.d.e. via the preconditioned conjugate gradient method. For the second-order partial differential equations with Dirichlel boundary conditions, we prove that the condition number of the preconditioned system is O(1) while the condition number of the original system is O(m 2) Here m is the number of interior gridpoints in each direction. Such condition number produces a linear convergence rale.

Positive solutions of second-order differential systems with nonhomogeneous boundary conditions

This paper is to investigate the positive solutions of the systems of second-order ordinary differential equations with nonhomogeneous multi-point boundary conditions. By the lower and upper solutions method, Schauder fixed point theorem and fixed point index theory, under certain conditions, it is proved that there exist appropriate regions of parameters in which the problem has at least two, at least one or no positive solution.

Oscillation of Second-Order Half-Linear Neutral Advanced Differential Equations

The purpose of this paper is to study the oscillation of second-order half-linear neutral differential equations with advanced argument of the form(r(t)((y(t)+p(t)y(τ(t)))')^(α))'+q(t)yα(σ(t))=0,t≥t_(0),when∫^(∞)r^(−1/α)(s)ds<∞.We obtain sufficient conditions for the oscillation of the studied equations by the inequality principle and the Riccati transformation.An example is provided to illustrate the results.

Solution of Second-Order Ordinary Differential Equations via Simulated Annealing

In this paper, we approach the problem of obtaining approximate solution of second-order initial value problems by converting it to an optimization problem. It is assumed that the solution can be approximated by a polynomial. The coefficients of the polynomial are then optimized using simulated annealing technique. Numerical examples with good results show the accuracy of the proposed approach compared with some existing methods.

OSCILLATION AND ASYMPTOTIC BEHAVIOR OF SOME SECOND-ORDER RETARDED DIFFERENTIAL EQUATIONS

In this paper, we consider the following second order retarded differential equations x″(t)+cx′(t)=qx(t-σ)-lx(t-δ) (1) x″(t)+p(t)x(t-τ)=0 (2) We give some sufficient conditions for the oscillation of all solutions of Eq. (1) in the case where q, ι, σ, δ are positive numbers and c is a real number. And also, we study the asymptotic behavior of the nonoscillatory solutions. If necessary, we give some examples to illustrate our results. At last, we study Eq. (2) with some conditions on p(t).

DISCUSSION ON″THE BOUNDEDNESS AND ASYMPTOTIC BEHAVIOR OR SOLUTION DIFFERENTIAL SYSTEM OF SECOND-ORDER WITH VARIABLE COEFFICIENT" (App1ied Mathematics and Mechanics,Vo1.3,No.4,1982)

After reading the article "The Boundedness and Asymptotic Behavior of Solution of Differential System of Second-Order with Variable Coefficient" in "Applied Mathematics and Mechanics", Vol. 3, No. 4, 1982, we would like to put forward a few points to discuss with the author and the readers. Our opinions are presented as follows:

SECOND-ORDER ACCURATE DIFFERENCE METHOD FOR THE SINGULARLY PERTURBED PROBLEM OF FOURTH-ORDER ORDINARY DIFFERENTIAL EQUATIONS

In this paper, we construct a uniform second-order difference scheme for a class of boundary value problems of fourth-order ordinary differential equations. Finally, a numerical example is given.