本文研究了独立同分布样本的 u 统计量分布的非一致性速度,得到了与独立和完全类同的结果。若 E|h(x_1,x_2)|^(2+δ)<∞,(0<δ<1),且 Eg_1~2(x_1)>0,则存在与 F(F为 h(x_1,x_2)的分布函数有关的ψ(u),当 n 充分大时,有|P((U...本文研究了独立同分布样本的 u 统计量分布的非一致性速度,得到了与独立和完全类同的结果。若 E|h(x_1,x_2)|^(2+δ)<∞,(0<δ<1),且 Eg_1~2(x_1)>0,则存在与 F(F为 h(x_1,x_2)的分布函数有关的ψ(u),当 n 充分大时,有|P((U_n)/(σ_n)≤x)-Φ(x)|≤((ψ(√n(1+|x|)))/(n^2(1+|x|)^(2+(?)))其中:ψ(u)是(u>0)上的有界减函数且有 lim(?)ψ(u)=0。展开更多
Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditiona...Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.展开更多
文摘本文研究了独立同分布样本的 u 统计量分布的非一致性速度,得到了与独立和完全类同的结果。若 E|h(x_1,x_2)|^(2+δ)<∞,(0<δ<1),且 Eg_1~2(x_1)>0,则存在与 F(F为 h(x_1,x_2)的分布函数有关的ψ(u),当 n 充分大时,有|P((U_n)/(σ_n)≤x)-Φ(x)|≤((ψ(√n(1+|x|)))/(n^2(1+|x|)^(2+(?)))其中:ψ(u)是(u>0)上的有界减函数且有 lim(?)ψ(u)=0。
基金The National Natural Science Foundation of China(No.61273110)the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002)
文摘Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.
