In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number...In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.展开更多
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-mini...This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.展开更多
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog...This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.展开更多
This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will...This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason's rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.展开更多
In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay fo...In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.展开更多
The controllability problem of heterogeneous interdependent group systems with undirected and directed topology is investigated in this paper. First, the interdependent model of the heterogeneous system is set up acco...The controllability problem of heterogeneous interdependent group systems with undirected and directed topology is investigated in this paper. First, the interdependent model of the heterogeneous system is set up according to the difference of individual characteristics. An extended distributed protocol with the external sliding-mode control is designed, under which it is shown that a heterogeneous interdependent group system is controllable when the corresponding communication topology is controllable. Then, using the network eigenvalue method, the driving individuals are determined for a heterogeneous system with undirected topology. Under directed topology, the maximum match method is utilized to confirm the driving individuals. Some sufficient and necessary conditions are presented to assure that the heterogeneous interdependent group system is structurally controllable. Via theoretical analysis, the controllability of heterogeneous interdependent systems is related to the interdependent manner and the structure of the heterogeneous system. Numerical simulations are provided to demonstrate the effectiveness of the theoretical results.展开更多
Graphic processing units (GPUs) have been widely recognized as cost-efficient co-processors with acceptable size, weight, and power consumption. However, adopting GPUs in real-time systems is still challenging, due ...Graphic processing units (GPUs) have been widely recognized as cost-efficient co-processors with acceptable size, weight, and power consumption. However, adopting GPUs in real-time systems is still challenging, due to the lack in framework for real-time analysis. In order to guarantee real-time requirements while maintaining system utilization ~in modern heterogeneous systems, such as multicore multi-GPU systems, a novel suspension-based k-exclusion real-time locking protocol and the associated suspension-aware schedulability analysis are proposed. The proposed protocol provides a synchronization framework that enables multiple GPUs to be efficiently integrated in multicore real-time systems. Comparative evaluations show that the proposed methods improve upon the existing work in terms of schedulability.展开更多
This paper studies the output consensus problem of heterogeneous linear stochastic multiagent systems with multiplicative noises in system parameters and measurements,where the system noise in each agent is allowed to...This paper studies the output consensus problem of heterogeneous linear stochastic multiagent systems with multiplicative noises in system parameters and measurements,where the system noise in each agent is allowed to be different.By employing stochastic output regulation theory and the stochastic Lyapunov function approach,a composite controller embedded with stochastic output regulator equations(SOREs)and a stochastic dynamic compensator is designed to achieve the meansquare output consensus of the multi-agent systems.To implement the consensus algorithm,a sufficient condition for feasible solutions of the SOREs is first established in terms of Lyapunov and Selvester equations.Then the time-varying SOREs are approximated by the Euler-Maruyama method combined with an a-posteriori partial estimation of the increments of the Brownian motion.A numerical example illustrates the theoretical results.展开更多
In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multipl...In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.展开更多
In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three di...In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents' dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader's dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.展开更多
We study the contain men t cont rol problem for high-order het erogeneous nonlinear multi-age nt systems under distributed event-triggered schemes.To achieve the containment control objective and reduce communication ...We study the contain men t cont rol problem for high-order het erogeneous nonlinear multi-age nt systems under distributed event-triggered schemes.To achieve the containment control objective and reduce communication consumption among agents,a distributed event-triggered control scheme is proposed by applying the backstepping method,Lyapunov functional approach,and neural networks.Then,the results are extended to the self-triggered control case to avoid continuous monitoring of state errors.The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error.In addition,no agent exhibits Zeno behavior.Two numerical simulations are finally presen ted to verify the correctness of the obtained results.展开更多
Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem o...Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.展开更多
The issue of stability and group consensus tracking is investigated for the discrete-time heterogeneous networked multi-agent systems with communication constraints(e.g.,time delays and data loss)in this paper.Firstly...The issue of stability and group consensus tracking is investigated for the discrete-time heterogeneous networked multi-agent systems with communication constraints(e.g.,time delays and data loss)in this paper.Firstly,the couple-group consensus tracking control is analyzed theoretically,the communication constraints are compensated by the prediction method,and the factor of leaders is introduced to make the system not lose generality.Secondly,the necessary and sufficient condition is given to ensure the stability of the system and achieve the couple-group consensus tracking control,and relax the topology constraint of in-degrees balance by cooperative-competitive interactions.In addition,the result of couple groups is extended to multiple groups based on the predictive control protocol.Numerical simulations with Matlab show that the proposed networked predictive control can effectively overcome the network constraints,the dynamic performance and control effect are better than the general control without the prediction.展开更多
In this paper,a novel design framework is developed to solve the cooperative tracking problem of heterogeneous discrete-time multi-agent systems with unknown agent parameters and directed communication topologies.Firs...In this paper,a novel design framework is developed to solve the cooperative tracking problem of heterogeneous discrete-time multi-agent systems with unknown agent parameters and directed communication topologies.First,a distributed event-triggered observer is developed to handle the heterogeneity of the multi-agent systems.An event-triggering mechanism is proposed to reduce the amount of data transmission between neighboring agents.Then,based on the proposed observer,a discrete-time distributed model reference adaptive controller is presented to deal with the unknown parameters of the multi-agent systems.It is shown that by using the proposed observer and the model reference adaptive controller,the proposed design framework could achieve output tracking of the unknown multi-agent systems for any communication graph containing a directed spanning tree.Finally,an example is presented to illustrate the effectiveness of the proposed controller.展开更多
Heterogeneous materials are inherently dielectric,and charge distribution and transport in such materials involves complex local fields and polarizations that are remarkably sensitive to morphology and the interaction...Heterogeneous materials are inherently dielectric,and charge distribution and transport in such materials involves complex local fields and polarizations that are remarkably sensitive to morphology and the interaction of conduction and permittivity.Trial and error design of such material systems is time consuming and expensive,and often ineffectual.However,heterogeneous materials are essential for energy conversion and storage,and they have become the foundation for major advances in the performance of devices such as batteries,fuel cells,separation membranes,and solar cells.The present paper presents some relationships in support of rational design based on an extensive experimental validation of the concepts and analysis that form a foundation for that design.Salient results include the prediction and confirmation of volume fraction effects(including nondilute mixtures),and the prediction and direct measurement of surface charge effects at internal interfaces as a function of constituent morphology and orientation.展开更多
In this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, thi...In this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, this consensus problem is turned into a consensus problem for homogeneous multi-agent systems. With certain assumption on the control parameters, firstly, necessary and sufficient condition for consensus is proposed with fixed topology. Secondly, sufficient condition is proposed for heterogeneous multi-agent systems to achieve consensus with switching topologies. Finally, simulation examples are presented to verify the effectiveness of the theoretical results.展开更多
Dawning Nebulae is a heterogeneous system composed of 9280 multi-core x86 CPUs and 4640 NVIDIA Fermi GPUs. With a Linpack performance of 1.271 petaFLOPS, it was ranked the second in the TOP500 List released in June 20...Dawning Nebulae is a heterogeneous system composed of 9280 multi-core x86 CPUs and 4640 NVIDIA Fermi GPUs. With a Linpack performance of 1.271 petaFLOPS, it was ranked the second in the TOP500 List released in June 2010. In this paper, key issues in the system design of Dawning Nebulae are introduced. System tuning methodologies aiming at petaFLOPS Linpack result are presented, including algorithmic optimization and communication improvement. The design of its file I/O subsystem, including HVFS and the underlying DCFS3, is also described. Performance evaluations show that the Linpack efficiency of each node reaches 69.89%, and 1024-node aggregate read and write bandwidths exceed 100 GB/s and 70 GB/s respectively. The success of Dawning Nebulae has demonstrated the viability of CPU/GPU heterogeneous structure for future designs of supercomputers.展开更多
This paper addresses both the output leader-tracking and output containment control prob-lems for heterogeneous linear high-order Multi-Agent Systems(MASs)sharing information over a directed communication topology and...This paper addresses both the output leader-tracking and output containment control prob-lems for heterogeneous linear high-order Multi-Agent Systems(MASs)sharing information over a directed communication topology and subject to external unknown disturbances.To solve these control problems,we propose a robust fully distributed Proportional-Integral-Derivative(PID)control strategy,equipped with a filter on the derivative action that allows obtaining both a simpler closed-loop formulation,without the need of the descriptor transformation,and good tracking performances in the case of fast reference signal behaviours.The stability analysis is analytically proven via the Lyapunov theory and the H_(∞) approach.The derived robust stability conditions are expressed as a set Linear Matrix Inequalities(LMIs)whose solution provides the proper tuning of the robust PID control gains.Numerical simulations confirm the effectiveness and robustness of the proposed approach in solving both the output leader-tracking and output containment control problems.展开更多
基金supported in part by the National Key Research and Development Program of China(2018YFA0702200)the National Natural Science Foundation of China(52377079,62203097,62373196)。
文摘In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.
基金This work was supported by Research Grants Council of Hong Kong(CityU-11205221).
文摘This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.
文摘This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.
基金supported by the National Basic Research Program of China (Grant No. 2010CB731800)the Key Project of the National Natural Science Foundation of China (Grant No. 60934003)+2 种基金the National Natural Science Foundation of China (Grant No. 61074065)the Key Project for the Natural Science Research of Hebei Education Department,China (Grant No. ZD200908)the Key Project for the Shanghai Committee of Science and Technology (Grant No. 08511501600)
文摘This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents, and agents will pursue the target once they detect its existence. Since the ability of each agent may be different, we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems, a novel consensus-based control law is proposed, where the target and agents are modeled as a leader and followers, respectively. Based on Mason's rule and signal flow graph analysis, the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally, simulation studies are provided to verify the effectiveness of the proposed approach.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61203147,61374047,61203126,and 61104092)the Humanities and Social Sciences Youth Funds of the Ministry of Education,China(Grant No.12YJCZH218)
文摘In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61603137 and 11662002)the Innovation Team Project of Jiangxi Provincial Innovation Drive "5511" Advantaged Science and Technology(Grant No.20165BCB19011)+2 种基金the Natural Science Foundation of Jiangxi Province,China(Grant Nos.20171BAB212016 and 20171BAB202029)the Key Research and Development Project of the Technology Department of Jiangxi Province,China(Grant No.20161BBE53008)the Doctoral Scientific Research Foundation of East China Jiaotong University(Grant No.2003418002)
文摘The controllability problem of heterogeneous interdependent group systems with undirected and directed topology is investigated in this paper. First, the interdependent model of the heterogeneous system is set up according to the difference of individual characteristics. An extended distributed protocol with the external sliding-mode control is designed, under which it is shown that a heterogeneous interdependent group system is controllable when the corresponding communication topology is controllable. Then, using the network eigenvalue method, the driving individuals are determined for a heterogeneous system with undirected topology. Under directed topology, the maximum match method is utilized to confirm the driving individuals. Some sufficient and necessary conditions are presented to assure that the heterogeneous interdependent group system is structurally controllable. Via theoretical analysis, the controllability of heterogeneous interdependent systems is related to the interdependent manner and the structure of the heterogeneous system. Numerical simulations are provided to demonstrate the effectiveness of the theoretical results.
基金supported by the National Natural Science Foundation of China under Grant No.61003032/F020207
文摘Graphic processing units (GPUs) have been widely recognized as cost-efficient co-processors with acceptable size, weight, and power consumption. However, adopting GPUs in real-time systems is still challenging, due to the lack in framework for real-time analysis. In order to guarantee real-time requirements while maintaining system utilization ~in modern heterogeneous systems, such as multicore multi-GPU systems, a novel suspension-based k-exclusion real-time locking protocol and the associated suspension-aware schedulability analysis are proposed. The proposed protocol provides a synchronization framework that enables multiple GPUs to be efficiently integrated in multicore real-time systems. Comparative evaluations show that the proposed methods improve upon the existing work in terms of schedulability.
基金supported by the National Natural Science Foundation of China under Grant Nos.62003104 and 62003103the Guangxi Science and Technology Planning Project under Grant No.AD23026217+2 种基金the Guangxi Natural Science Foundation under Grant No.2022GXNSFBA035649the Interdisciplinary Scientific Research Foundation of Guangxi University under Grant No.2022JCC019the Guangxi University Natural Science and Technological Innovation Development Multiplication Plan Project under Grant No.2023BZRC018。
文摘This paper studies the output consensus problem of heterogeneous linear stochastic multiagent systems with multiplicative noises in system parameters and measurements,where the system noise in each agent is allowed to be different.By employing stochastic output regulation theory and the stochastic Lyapunov function approach,a composite controller embedded with stochastic output regulator equations(SOREs)and a stochastic dynamic compensator is designed to achieve the meansquare output consensus of the multi-agent systems.To implement the consensus algorithm,a sufficient condition for feasible solutions of the SOREs is first established in terms of Lyapunov and Selvester equations.Then the time-varying SOREs are approximated by the Euler-Maruyama method combined with an a-posteriori partial estimation of the increments of the Brownian motion.A numerical example illustrates the theoretical results.
基金supported in part by the National Natural Science Foundation of China(Nos.62022055,61973215).
文摘In this paper,we revisit the semi-global weighted output average tracking problem for a discrete-time multi-agent system subject to input saturation and external disturbances.The multi-agent system consists of multiple heterogeneous linear systems as leader agents and multiple heterogeneous linear systems as follower agents.We design both the state feedback and output feedback control protocols for each follower agent.In particular,a distributed state observer is designed for each follower agent that estimates the state of each leader agent.In the output feedback case,state observer is also designed for each follower agent to estimate its own state.With these estimates,we design low gain-based distributed control protocols,parameterized in a scalar low gain parameter.It is shown that,for any bounded set of the initial conditions,these control protocols cause the follower agents to track the weighted average of the outputs of the leader agents as long as the value of the low gain parameter is tuned sufficiently small.Simulation results illustrate the validity of the theoretical results.
文摘In this paper, a unified design procedure is given for output synchronization of heterogeneous multi-agent systems (MAS) on communication graph topologies, using relative output measurements from neighbors. Three different control protocols, namely, full-state feedback, static output-feedback, and dynamic output-feedback, are designed for output synchronization. It is seen that a unified design procedure for heterogeneous MAS can be given by formulation and solution of a suitable local L2-gain design problem. Sufficient conditions are developed in terms of stabilizing the local agents' dynamics, satisfying a certain small-gain criterion, and solving the output regulator equations. Local design procedures are presented for each agent to guarantee that these sufficient conditions are satisfied. The proposed control protocols require only one copy of the leader's dynamics in the compensator, regardless of the dimensions of the outputs. This results in lower-dimensional compensators for systems with high-order outputs, compared to the p-copy internal model approach. All three proposed control protocols are verified using numerical simulations.
基金Project supported by the National Natural Science Foundation of China(Nos.61873128 and 61673219)the Jiangsu Key Research and Development Plan,China(No.BE2018004-3)。
文摘We study the contain men t cont rol problem for high-order het erogeneous nonlinear multi-age nt systems under distributed event-triggered schemes.To achieve the containment control objective and reduce communication consumption among agents,a distributed event-triggered control scheme is proposed by applying the backstepping method,Lyapunov functional approach,and neural networks.Then,the results are extended to the self-triggered control case to avoid continuous monitoring of state errors.The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error.In addition,no agent exhibits Zeno behavior.Two numerical simulations are finally presen ted to verify the correctness of the obtained results.
基金supported by National Natural Science Foundation of China(Nos.61104092,61134007 and 61203147)the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.
基金supported by Natural Science Foundation of Heilongjiang Province of China under Grant No.LH2022F033the National Natural Science Foundation of China under Grant Nos.61903104,61773144 and 12071102Heilongjiang Postdoctoral Scientific Research Developmental Fund under Grant Nos.LBHQ20099 and LBH-Q20168。
文摘The issue of stability and group consensus tracking is investigated for the discrete-time heterogeneous networked multi-agent systems with communication constraints(e.g.,time delays and data loss)in this paper.Firstly,the couple-group consensus tracking control is analyzed theoretically,the communication constraints are compensated by the prediction method,and the factor of leaders is introduced to make the system not lose generality.Secondly,the necessary and sufficient condition is given to ensure the stability of the system and achieve the couple-group consensus tracking control,and relax the topology constraint of in-degrees balance by cooperative-competitive interactions.In addition,the result of couple groups is extended to multiple groups based on the predictive control protocol.Numerical simulations with Matlab show that the proposed networked predictive control can effectively overcome the network constraints,the dynamic performance and control effect are better than the general control without the prediction.
基金supported by the Fundamental Research Funds for the Central Universities under Grant No.D5000210690。
文摘In this paper,a novel design framework is developed to solve the cooperative tracking problem of heterogeneous discrete-time multi-agent systems with unknown agent parameters and directed communication topologies.First,a distributed event-triggered observer is developed to handle the heterogeneity of the multi-agent systems.An event-triggering mechanism is proposed to reduce the amount of data transmission between neighboring agents.Then,based on the proposed observer,a discrete-time distributed model reference adaptive controller is presented to deal with the unknown parameters of the multi-agent systems.It is shown that by using the proposed observer and the model reference adaptive controller,the proposed design framework could achieve output tracking of the unknown multi-agent systems for any communication graph containing a directed spanning tree.Finally,an example is presented to illustrate the effectiveness of the proposed controller.
文摘Heterogeneous materials are inherently dielectric,and charge distribution and transport in such materials involves complex local fields and polarizations that are remarkably sensitive to morphology and the interaction of conduction and permittivity.Trial and error design of such material systems is time consuming and expensive,and often ineffectual.However,heterogeneous materials are essential for energy conversion and storage,and they have become the foundation for major advances in the performance of devices such as batteries,fuel cells,separation membranes,and solar cells.The present paper presents some relationships in support of rational design based on an extensive experimental validation of the concepts and analysis that form a foundation for that design.Salient results include the prediction and confirmation of volume fraction effects(including nondilute mixtures),and the prediction and direct measurement of surface charge effects at internal interfaces as a function of constituent morphology and orientation.
基金Supported by Natural Science Foundation of Hebei Province(A2013202198)
文摘In this paper, the consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents is investigated with directed network topologies. Based on a system transformation method, this consensus problem is turned into a consensus problem for homogeneous multi-agent systems. With certain assumption on the control parameters, firstly, necessary and sufficient condition for consensus is proposed with fixed topology. Secondly, sufficient condition is proposed for heterogeneous multi-agent systems to achieve consensus with switching topologies. Finally, simulation examples are presented to verify the effectiveness of the theoretical results.
基金supported by the National Hi-Tech Research and Development 863 Program of China under Grant No. 2009AA01A129the National Natural Science Foundation of China under Grant Nos. 60633040,60803030,61033009,the National Natural Science Foundation for Distinguished Young Scholars of China under Grant No. 60925009 and the Foundation for Innovative Research Groups of the National Natural Science Foundation of China under Grant No. 60921002the National Basic Research 973 Program of China under Grant No. 2011CB302500
文摘Dawning Nebulae is a heterogeneous system composed of 9280 multi-core x86 CPUs and 4640 NVIDIA Fermi GPUs. With a Linpack performance of 1.271 petaFLOPS, it was ranked the second in the TOP500 List released in June 2010. In this paper, key issues in the system design of Dawning Nebulae are introduced. System tuning methodologies aiming at petaFLOPS Linpack result are presented, including algorithmic optimization and communication improvement. The design of its file I/O subsystem, including HVFS and the underlying DCFS3, is also described. Performance evaluations show that the Linpack efficiency of each node reaches 69.89%, and 1024-node aggregate read and write bandwidths exceed 100 GB/s and 70 GB/s respectively. The success of Dawning Nebulae has demonstrated the viability of CPU/GPU heterogeneous structure for future designs of supercomputers.
文摘This paper addresses both the output leader-tracking and output containment control prob-lems for heterogeneous linear high-order Multi-Agent Systems(MASs)sharing information over a directed communication topology and subject to external unknown disturbances.To solve these control problems,we propose a robust fully distributed Proportional-Integral-Derivative(PID)control strategy,equipped with a filter on the derivative action that allows obtaining both a simpler closed-loop formulation,without the need of the descriptor transformation,and good tracking performances in the case of fast reference signal behaviours.The stability analysis is analytically proven via the Lyapunov theory and the H_(∞) approach.The derived robust stability conditions are expressed as a set Linear Matrix Inequalities(LMIs)whose solution provides the proper tuning of the robust PID control gains.Numerical simulations confirm the effectiveness and robustness of the proposed approach in solving both the output leader-tracking and output containment control problems.