Leader-following多自主体系统时变编队跟踪控制

考虑时变时延,研究了高阶leader-following多自主体系统的分布式时变编队跟踪控制问题.针对连续高阶多自主体系统,设计了基于观测器的时变编队跟踪控制协议,通过状态变换,将系统的时变编队跟踪控制问题,转变为误差系统的稳定性问题.然后利用图论及李雅普诺夫稳定定理,研究了系统实现时变编队跟踪控制的充分条件,并且指出时变编队参考函数与时变时延无关.最后,数据仿真结果证明了所设计的协议能使follower自主体实现时变编队,并且跟踪leader自主体的轨迹.

Leader-following coordination of multi-agent systems with information feedback

Based on the strategy of information feedback from followers to the leader, flocking control of a group of agents with a leader is studied. The leader tracks a pre-defined trajectory and at the same time the leader uses the feedback information from followers to the leader to modify its motion. The advantage of this control scheme is that it reduces the tracking errors and improves the robustness of the team cohesion to followers＇ faults. The results of simulation are provided to illustrate that information feedback can improve the performance of the system.

Leader-following consensus of discrete-time fractional-order multi-agent systems

Leader-following consensus of fractional order multi-agent systems is investigated. The agents are considered as discrete-time fractional order integrators or fractional order double-integrators. Moreover, the interaction between the agents is described with an undirected communication graph with a fixed topology. It is shown that the leader-following consensus problem for the considered agents could be converted to the asymptotic stability analysis of a discrete-time fractional order system. Based on this idea, sufficient conditions to reach the leader-following consensus in terms of the controller parameters are extracted. This leads to an appropriate region in the controller parameters space. Numerical simulations are provided to show the performance of the proposed leader-following consensus approach.

CONSENSUS OF THE SECOND-ORDER MULTI-AGENT SYSTEMS WITH AN ACTIVE LEADER AND COUPLING TIME DELAY

This article investigates the consensus problem of the second-order multi-agent systems with an active leader and coupling time delay in direct graph. One decentralized state control rule is constructed for each agent to track the active leader and it is proved that the proposed control scheme enables the consensus to be obtained when the adjacency topology is fixed/switched. Simulation results show effectiveness of the proposed theoretical analysis.

Dynamic development model for long gap discharge streamer-leader system based on fractal theory

Establishing a long air gap discharge model considering the streamer-leader transition and randomness of the discharge path is of great signiflcance to improve the accuracy of discharge characteristic prediction and optimize external insulation design.Based on fractal theory and thermal ionization theory of streamer-leader transition,this work establishes a dynamic development model for the long air gap discharge streamer-leader system,which includes streamer inception,streamer development,leader inception,development of streamer-leader system and flnal jump.The positive discharge process of a 3 m rod plate is simulated to obtain the fractal distribution of the discharge path and the law of leader development for comparison with the discharge test results.The results show that the simulation model is similar to test results in the development characteristics of leader path distribution,each stage time and leader velocity.Finally,a simulation calculation of a 50%breakdown voltage of the rod-plate gap and ball-plate gap is carried out,with results fairly consistent with test data,proving the effectiveness and practicality of the model.

Finite-time consensus for leader-following multi-agent systems over switching network topologies

Finite-time consensus problem of the leader-following multi-agent system under switching network topologies is studied in this paper. Based on the graph theory, matrix theory, homogeneity with dilation, and LaSalle＇s invariance principle, the control protocol of each agent using local information is designed, and the detailed analysis of the leader- following finite-time consensus is provided. Some examples and simulation results are given to illustrate the effectiveness of the obtained theoretical results.

Flocking for Leader-Following Multi-Agent Systems with Time-Varying Delay

This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical deduction shows that the stable flocking motion is achieved.

Stochastic bounded consensus tracking of leader-follower multi-agent systems with measurement noises and sampled-data

This paper is concerned with the stochastic bounded consensus tracking problems of leader-follower multi-agent systems, where the control input of an agent can only use the information measured at the sampling instants from its neighbours or the virtual leader with a time-varying reference state, and the measurements are corrupted by random noises. The probability limit theory and the algebra graph theory are employed to derive the necessary and sufficient conditions guaranteeing the mean square bounded consensus tracking. It is shown that the maximum allowable upper boundary of the sampling period simultaneously depends on the constant feedback gains and the network topology. Furthermore, the effects of the sampling period on the tracking performance are analysed. It turns out that from the view point of the sampling period, there is a trade-off between the tracking speed and the static tracking error. Simulations are provided to demonstrate the effectiveness of the theoretical results.

Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint

In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint （LC-HMAS-OPFGA）, which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path （MCA-SP-OPGGA）, and the optimal persistent graph adjusting algorithm based on the shortest path （SP-OPGAA）. Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS- OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC- HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.

Stochastic bounded consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with general sampling delay

In this paper we provide a unified framework for consensus tracking of leader-follower multi-agent systems with measurement noises based on sampled data with a general sampling delay. First, a stochastic bounded consensus tracking protocol based on sampled data with a general sampling delay is presented by employing the delay decomposition technique. Then, necessary and sufficient conditions are derived for guaranteeing leader-follower multi-agent systems with measurement noises and a time-varying reference state to achieve mean square bounded consensus tracking. The obtained results cover no sampling delay, a small sampling delay and a large sampling delay as three special cases. Last, simulations are provided to demonstrate the effectiveness of the theoretical results.

Leader-Following Consensus of Nonlinear Strict-Feedback Multi-agent Systems

The distributed leader-following consensus for nonlinear multi-agent systems in strict-feedback forms is investigated under directed topology. Firstly, each follower node is modeled by an integrator incorporating with nonlinear dynamics. The leader node is modeled as an autonomous nonlinear system which sends its information to one or more followers. Then, a simple and novel distributed protocol is proposed based only on the state feedback, under which the states of the followers ultimately synchronize to the leader. By using Lyapunov stability theorem and matrix theory, it is proved that the distributed leader-following consensus of nonlinear multi-agent systems with strict-feedback form is guaranteed by Lipschitz continuous control laws. Finally, some numerical simulations are provided to show the effectiveness of the developed method.

Fixed-time Consensus for Leader-follower Second-order Multi-agent Systems

We analyse the fixed-time consensus problem for multi-agent systems with leaderfollower mode. Based on a follower’s observation structure for the leader’s information, it is proved that the estimation errors can be converged to zero at a fixed time. From this stability and a sliding mode structure, we derive a control input of followers, which provides a critical support for fixed-time consensus. The simulation results demonstrate that this control approach does conduce to the implementation of the fixed-time synchronization.

Leader-following consensus control for networked multi-teleoperator systems with interval time-varying communication delays

We study the leader-following consensus stability and stabilization of networked multi-teleoperator systems with interval time-varying communication delays. With the construction of a suitable Lyapunov–Krasovskii functional and the utilization of the reciprocally convex approach, novel delay-dependent consensus stability and stabilization conditions for the systems are established in terms of linear matrix inequalities, which can easily be solved by various effective optimization algorithms. One illustrative example is given to illustrate the effectiveness of the proposed methods.

基于图和流体扰动算法的多无人车编队及避障研究

为解决多无人车编队在存在运动目标、移动威胁与突发威胁等多种情况的复杂环境中的避障问题,设计了一种基于刚性图论和流体扰动算法的多无人车编队避障控制算法。首先,针对编队控制问题,采用图论方法描述多无人车之间的协同关系,利用无人车之间的距离约束,基于反步控制理论设计领航-跟随编队控制器。李雅普诺夫分析表明,期望的编队形状是渐近稳定的。其次,针对复杂动态障碍物环境下的编队避障问题,设计了基于流体扰动算法的避障路径规划方法,由领航无人车规划出编队的行驶路径,实现编队的整体避障。最后,基于MATLAB的仿真结果验证了所提算法的有效性。

努力构建党内全过程监督体系

长期以来,我们重视自上而下的监督,不够重视自下而上的监督,没有构建起全过程监督体系。造成领导干部特别是“一把手”贪腐问题屡禁不止。要解决这个问题,必须构建并不断完善党内全过程监督体系。全过程监督体系,坚持党中央的集中统一领导,坚持纪委监委专门监督责任,坚持民主监督与集中监督的有机结合,坚持自上而下监督与自下而上监督相结合。当务之急,是要建立健全党内全过程监督制度,进一步明确监督主体、监督对象、监督体制机制。发挥同级党组织相互监督的作用。改进自下而上的民主监督。积极推进对“一把手”和领导班子的监督。加强领导班子成员之间相互监督。加强各级党委对监督工作的领导。强化对干部管理工作的监督,完善干部选举和任用工作监督、“一把手”和领导班子决策监督。加强对党内全过程监督体系构建的领导与管理。

领导底线心智对员工知识破坏行为的影响机制

竞争激烈的职场环境使得员工的知识破坏问题日趋明显,严重损害组织可持续发展。以两阶段配对的772份问卷为样本,基于认知-情感系统理论,从员工认知和情感两条路径探究领导底线心智对员工知识破坏行为的影响机制。研究表明,领导底线心智通过违反规范可接受感知与职场焦虑引发员工知识破坏行为,相较于情感路径(职场焦虑),认知路径(违反规范可接受感知)的影响更显著;高水平合作氛围不仅会弱化领导底线心智对违反规范可接受感知和职场焦虑的影响,而且会削弱领导底线心智通过二者对员工知识破坏行为的传导作用。研究结论对保护员工与组织免受知识破坏侵害具有指导价值。

基于虚拟领导节点改进的孤岛微电网完全分布式二次调频策略

传统分布式二次调频策略在虚拟领导节点频率信息出现故障时会导致微电网系统频率无法恢复,针对该问题提出并设计一种完全分布式二次调频策略。首先分析传统分布式二次调频策略虚拟领导节点故障对二次调频过程产生的影响;然后,结合一致性算法对传统分布式二次调频控制器加以改进,通过将调频补偿量与频率偏差的对消作为“频率引导项”加入各分布式控制器中,使得各分布式发电单元完全对等,以保证虚拟领导节点去除后频率的正常恢复,实现完全分布式控制;最后,通过仿真验证所提方法在保证频率恢复方面的有效性与优越性。

世界一流企业科技创新能力评价指标体系研究

加快形成新质生产力是新时代塑造发展新动能的应有之义。提升中央企业科技创新能力并助力其成为世界一流企业,是加快形成新质生产力的关键抓手。从创新决策能力、创新支持能力、创新生态能力、创新攻关能力和创新引领能力等5个维度构建了世界一流企业科技创新能力评价指标体系。评价指标体系是加快建设世界一流企业的“指挥棒”。通过构建科学合理的世界一流企业科技创新能力评价指标体系,以评促改不断提升中央企业科技创新能力,加快培育一批竞争力强的“链主”企业。在指标设置方面,应结合各类中央企业特征、所处行业属性以及内外部环境,使不同类型企业的评价指标能够切实反映其本质特征。

划片区组长负责制能级对应分层管理模式在急诊护理管理中的应用价值

目的研究划片区组长负责制能级对应分层管理模式在急诊护理管理中的应用价值。方法选取我院41名急诊科护理人员为研究对象,其中2020年1月至2022年1月采用常规急诊护理管理(n=41,管理前),2022年2月至2023年1月采用划片区组长负责制能级对应分层管理模式(n=41,管理后)。选择同期我院急诊科收治的80例患者的临床资料开展回顾性分析,其中2020年1月至2022年1月纳入40例患者,2022年2月至2023年1月纳入40例患者。比较管理前、后的护理不良事件发生率、护理质量、护士人文素质及患者安全胜任力。结果管理后的护理不良事件总发生率为5.00%,低于管理前的20.00%(P<0.05)。管理后的病区管理、护士工作能力、护士形象、护理服务态度、健康教育评分及总分均高于管理前(P<0.05)。管理后的职业道德素质、文化素质、法律素质、审美素质、心理素质评分及总分高于管理前(P<0.05)。管理后的知识因素、系统因素、态度因素、技能因素评分及总分高于管理前(P<0.05)。结论划片区组长负责制能级对应分层管理模式在急诊护理管理中的应用价值显著,可降低护理不良事件发生率,提高护理质量,提升护理人员的人文素质,值得推广。