多体系统高效动力学算法一直是多体系统动力学的重要研究方向.近年来,众多高效算法虽然在提高解算效率方面取得了一定研究成果,但大多无法直接给出多体系统的显式动力学方程或解算系统约束力.基于以上问题,研究了适用于任意树形多体系...多体系统高效动力学算法一直是多体系统动力学的重要研究方向.近年来,众多高效算法虽然在提高解算效率方面取得了一定研究成果,但大多无法直接给出多体系统的显式动力学方程或解算系统约束力.基于以上问题,研究了适用于任意树形多体系统动力学解算的约束力算法(constraint force algorithm,CFA)及其串行化应用.约束力算法可在解算多体系统动力学的过程中对系统约束力进行求解,该算法串行化后计算量仅与自由度成线性关系.通过分析树形多体系统中任意节点处的动力学、运动学递推关系并讨论系统方程的组集方法,将仅适用于链状系统的算法推广至任意树形系统,并给出了其串行化应用方法以提高算法效率.在数值仿真中,将所提算法与递推算法进行对比,验证了所提出的约束力算法的准确性;此外,通过对比4种不同算法在相同工作环境下解算同一模型时的处理器运行时间,证实了串行化约束力算法的高效性.展开更多
在这份报纸,网络拓扑学的关系和多代理人系统的动人的一致被学习。有静态的优先一致的附件的一个一致最快没有规模的网络模型在常规网络的给换新电线的连接上被介绍。拓扑学图的代数学的连接上的静态的优先一致的 BA 网络的效果与常规...在这份报纸,网络拓扑学的关系和多代理人系统的动人的一致被学习。有静态的优先一致的附件的一个一致最快没有规模的网络模型在常规网络的给换新电线的连接上被介绍。拓扑学图的代数学的连接上的静态的优先一致的 BA 网络的效果与常规网络相比。到延期的坚韧性获得与一样的规模为可变网络拓扑学被分析。到达一致的时间有或没有通讯延期为动态网络被学习。由使用计算机模拟,多代理人系统的集中的速度能极大地与不同配置在优先一致的 BA 网络模型被改进,这被验证。展开更多
This paper considers finite-time χ-consensus problem for a multi-agent system with firstorderindividual dynamics and switching interaction topologies.Several distributed finite-time consensusrules are constructed for...This paper considers finite-time χ-consensus problem for a multi-agent system with firstorderindividual dynamics and switching interaction topologies.Several distributed finite-time consensusrules are constructed for multi-agent dynamics in a unified way with the help of Lyapunovfunction and graph theory as well as homogeneity.Time-invariant non-smooth forms of finite-timeneighbor-based controllers are proposed and a numerical example is shown for illustration.展开更多
文摘多体系统高效动力学算法一直是多体系统动力学的重要研究方向.近年来,众多高效算法虽然在提高解算效率方面取得了一定研究成果,但大多无法直接给出多体系统的显式动力学方程或解算系统约束力.基于以上问题,研究了适用于任意树形多体系统动力学解算的约束力算法(constraint force algorithm,CFA)及其串行化应用.约束力算法可在解算多体系统动力学的过程中对系统约束力进行求解,该算法串行化后计算量仅与自由度成线性关系.通过分析树形多体系统中任意节点处的动力学、运动学递推关系并讨论系统方程的组集方法,将仅适用于链状系统的算法推广至任意树形系统,并给出了其串行化应用方法以提高算法效率.在数值仿真中,将所提算法与递推算法进行对比,验证了所提出的约束力算法的准确性;此外,通过对比4种不同算法在相同工作环境下解算同一模型时的处理器运行时间,证实了串行化约束力算法的高效性.
基金Supported by National Nature Science Foundation of China (61074068, 60774009, 61034007), and the Research Fund for the Doc- toral Program of Chinese Higher Education (200804220028)
基金Supported by National Natural Science Foundation of China (61079001, 61273006), National High Technology Research and Development Program of China (863 Program) (2011AAl10301), Specialized Research Fund for the Doctoral Program of Higher Education of China (20111103110017), Hebei Province Science and Technology Research and Development Planning Project (10203548D), Hebei Province Science and Technology Planning Project (13210807) Hebei Province Science and Technology Conditions Building Program (11963546D)
基金Supported in part by Chinese National Natural Science Foundation under Grant Nos. 60774016 60875039+2 种基金 60904022 60805039the Science Foundation of Education Office of Shandong Province of China under Grant No. J08LJ01
文摘在这份报纸,网络拓扑学的关系和多代理人系统的动人的一致被学习。有静态的优先一致的附件的一个一致最快没有规模的网络模型在常规网络的给换新电线的连接上被介绍。拓扑学图的代数学的连接上的静态的优先一致的 BA 网络的效果与常规网络相比。到延期的坚韧性获得与一样的规模为可变网络拓扑学被分析。到达一致的时间有或没有通讯延期为动态网络被学习。由使用计算机模拟,多代理人系统的集中的速度能极大地与不同配置在优先一致的 BA 网络模型被改进,这被验证。
基金Supported by the National Natural Science Foundation of China under Grant Nos 10572011 and 10872014, and the Innovation Foundation of BUAA for Ph.D. Graduates.
基金supported by the National Natural Science Foundation of China under Grant No.60904064, 61174094the Program for New Century Excellent Talents in University of China(NCET-10-0506)the Tianjin Natural Science Foundation of China under Grant No.09JCYBJC01700
基金supported in part by the National Natural Science Foundation of China under Grant Nos.60874018,60736022, and60821091
文摘This paper considers finite-time χ-consensus problem for a multi-agent system with firstorderindividual dynamics and switching interaction topologies.Several distributed finite-time consensusrules are constructed for multi-agent dynamics in a unified way with the help of Lyapunovfunction and graph theory as well as homogeneity.Time-invariant non-smooth forms of finite-timeneighbor-based controllers are proposed and a numerical example is shown for illustration.