Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

Development of a 4 MV Laser-Triggered Multi-Stage Switch

A 22-stage 4 MV laser-triggered multistage multi-channel switch （LTS） was designed according to the hypothesis that the well-proportioned electrical field distribution is helpful in reducing the jitter of delay. Field distribution in the switch section is regulated by a metal field regulation ring and several gradient rings. In order to reduce the jitter further, a SFB/N2 mixture is chosen as the switching medium. The generalized standard deviation of the self-breakdown voltage and the deviation of the average value from the prediction is less than 4.4% and 13% respectively. Linearity of the self-breakdown voltage is better than 0.95. Triggered by a laser pulse of 35 mJ/3 ns, the delay is about 26 ns at a working voltage of 85±3% USB （Self-breakdown Voltage）. Maximum deviation of delay is less than =t=2.5 ns. Jitter is less than 1.5 ns. The delay and jitter decrease with the increase in the working ratio （the ratio of working voltage to USB）, pressure or voltage.

Parameter Self - Learning of Generalized Predictive Control Using BP Neural Network

This paper describes the self—adjustment of some tuning-knobs of the generalized predictive controller(GPC).A three feedforward neural network was utilized to on line learn two key tuning-knobs of GPC,and BP algorithm was used for the training of the linking-weights of the neural network.Hence it gets rid of the difficulty of choosing these tuning-knobs manually and provides easier condition for the wide applications of GPC on industrial plants.Simulation results illustrated the effectiveness of the method.

Self - Crosslinking Behavior of Self - Emulsion Water - Based Polyure-thane Coating Agents

The relation between structures and properties of polyurethane are investigated by modern physical and chemical methods.The results obtained are as follows:the effects of the content of self-crosslinking agent on the properties of polyurethane,i.e.,dispersion stability,dynamical viscoelasticity and mechanical properties are discussed.It is found that the optimum molar ratio of epichlorohydrin and diethylenetriamine is 1:2.A mois-

Culture Self- Consciousness in Transmission of Chinese Philosophy from the Perspective of English Globalization -- Taking the Belt and Road Initiative for Example

The Belt and Road Initiative contains the aspiration of Chinese nation to pursue ideological freedom and desire of strengthening international exchanges and cooperation. This paper takes the Belt and Road Initiative for example,emphasizing the interpretation of the inheritance and development of Chinese culture so as to study the importance of Culture Self-Consciousness in Chinese Philosophy,in the context of English globalization. That is to say,this paper stresses the spirits and the stand of nation 's demonstration on pursuing peace,cooperation and sustainable development in the civilization continuity from traditional China to the contemporary China,with practical philosophic view.

T-S模糊系统的动态自触发有限时间H_(∞)控制

文中研究一类不确定Takagi-Sugeno(T-S)模糊系统的自触发有限时间H_(∞)控制。首先,提出动态自触发方案,构造触发参数的动力学方程,从而使自触发机制能依据触发时刻状态自适应地调整触发参数;同时,基于当前触发时刻的系统状态实时计算触发间隔,预测下一个触发时刻。相较于T-S模糊系统的静态自触发方案,文中所提的动态自触发方案能进一步降低触发频率,节约计算资源。其次,基于有限时间稳定理论,设置系统状态运动轨迹的次临界界限;结合状态轨迹与次临界界限的相对位置关系和动态自触发方案,分析系统的H_(∞)性能;此外,设计依赖模糊规则的H_(∞)状态反馈控制律,保证T-S模糊系统的动力学行为有限时间有界。最后,给出实例仿真验证文中方法的可行性。

T-S模糊系统的自触发有限时间H∞控制

为克服事件触发控制对硬件设备的依赖以及控制策略频繁更新的局限,针对一类不确定Takagi-Sugeno(T-S)模糊系统的有限时间H∞控制问题,引入自触发机制,提出一种基于此机制下只与触发时刻状态有关的模糊控制器设计方法;基于自触发机制并结合有限时间控制的思想,通过设计触发间隔函数、推导并求解线性矩阵不等式(LMI),使得系统在保障稳定性的前提下,系统运动轨迹不会超过一定的界限,并达到所期望H∞性能水平;同时相较于事件触发机制,自触发机制位于系统内部,无需额外硬件设备接收触发信号且只需利用当前的触发状态信息来预测下一触发时刻,在一定程度上进一步降低系统资源成本;此外,利用李亚普诺夫函数对系统稳定性进行了严格分析,并提供一个确保能够防止芝诺现象发生的证明;最后,通过数值仿真、单连杆刚性机器人系统实例仿真两个实验说明所提方法的有效性。

Coseismic Coulomb stress changes induced by a 2020-2021 M_(W)>7.0 Alaska earthquake sequence in and around the Shumagin gap and its influence on the Alaska-Aleutian subduction interface

Three M_(W)>7.0 earthquakes in 2020-2021 occurred in the Shumagin seismic gap and its adjacent area of the Alaska-Aleutian subduction zone,including the Mw7.8 Simeonof thrust earthquake on July 22,2020,the M_(W)7.6 Sand Point strike-slip earthquake on October 19,2020,and the M_(W)8.2 Chignik thrust earthquake on July 29,2021.The spatial and temporal proximity of these three earthquakes prompts us to probe stress-triggering effects among them.Here we examine the coseismic Coulomb stress change imparted by the three earthquakes and their influence on the subduction interface.Our results show that:(1)The Simeonof earthquake has strong loading effects on the subsequent Sand Point and Chignik earthquakes,with the Coulomb stress changes of 3.95 bars and 2.89 bars,respectively.The Coulomb stress change caused by the Sand Point earthquake at the hypocenter of the Chignik earthquake is merely around 0.01 bars,suggesting the negligible triggering effect on the latter earthquake;(2)The triggering effects of the Simeonof,Sand Point,and Chignik earthquakes on aftershocks within three months are not well pronounced because of the triggering rates of 38%,14%,and 43%respectively.Other factors may have played an important role in promoting the occurrence of these aftershocks,such as the roughness of the subduction interface,the complicated velocity structure of the lithosphere,and the heterogeneous prestress therein;(3)The three earthquakes caused remarkable coseismic Coulomb stress changes at the subduction interface nearby these mainshocks,with an average Coulomb stress change of 3.2 bars in the shallow region directly inwards the trench.

pH调节法制备自愈合明胶/聚甲基丙烯酸甲酯-甲基丙烯酸复合水凝胶

以甲基丙烯酸甲酯(MAA)与甲基丙烯酸(MAA)为单体,纳米SiO2为稳定剂,通过Pickering乳液聚合合成了粒径约300nm的表面负载SiO2的聚甲基丙烯酸甲酯-甲基丙烯酸乳胶粒(PMMS胶粒)。pH升高,流动性PMMS的水分散体系形成固态凝胶。PMMS与明胶的混合物在pH调节下形成具有自愈合能力的复合水凝胶。采用扫描电子显微镜观察了凝胶的微观结构,动态流变仪表征凝胶的黏弹性质及自愈合性质。结果表明:明胶/PMMS复合凝胶具有很好的自愈合性质。

可溶性髓样细胞触发受体-1对2型糖尿病合并肺部感染早期诊断价值的研究

目的探讨可溶性髓样细胞触发受体-1(sTREM-1)对糖尿病合并肺部感染的早期诊断价值。方法以2008年7月至2013年6月收治的2型糖尿病并发肺部感染患者79例作为肺部感染组,单纯随机选取同期无并发肺部感染的2型糖尿病患者80例作为对照组,检测2组sTREM-1和降钙素原(PCT)水平。结果肺部感染组sTREM-1和PCT水平均明显高于对照组(P<0.01);sTREM-1和PCT在2型糖尿病患者中早期诊断肺部感染的受试者工作特征曲线(ROC曲线)下面积分别为0.932和0.921,sTREM-1的敏感性和特异性分别为92.4%和86.3%,PCT的敏感性和特异性分别为81.0%和85.0%。结论血清sTREM-1和PCT是2型糖尿病合并肺部感染早期诊断的较好指标,具有较高的敏感性和特异性,sTREM-1优于PCT。

强震事件的在线预测技术——伽师-巴楚6.8级强震发生的后思考

20 0 3年 2月 2 4日新疆伽师——巴楚 6 .8级破坏性地震的发生 ,再次说明精细预测强震事件的重要性。本文以此次地震为例 ,提出一种预测地震事件的三要素新技术 ,即跟踪地震自激励演变信息预测震级大小、跟踪卫星遥感地表射出长波辐射 OL R信息预测地震危险区域、跟踪自然触发力因素信息预测临震时间。作者认为这种分要素。

MCY-1A型脉冲电路实验仪的研发

阐述了MCY-1A型脉冲电路实验仪的设计原理和制作要领。

自修复混凝土触发机制设计方法综述

在过去的20年里,自修复技术作为一种提高混凝土材料耐久性和结构韧性的新方法,一经提出就引起了学术界和工程界的广泛关注。通过在混凝土搅拌阶段加入封装的修复单元来实现开裂混凝土的自主修复被证明是一种有效的实施方案。在自修复混凝土的研究中,自修复单元及其触发机制的设计是决定自修复单元工作性能及混凝土整体修复效率的重要因素。本文从被动触发和主动触发两个方面综述了现有自修复混凝土的主要触发机制及相应的修复机理;在解释了每种触发机制的基本概念和优缺点后,对各类自修复触发机制的技术特点和适用范围进行了比较和分析,为合理选择适用的自修复触发机制提供参考;最后,为了规范各种触发机制的评估标准,进而推动自修复技术在混凝土中的实际应用,还从触发效率、应用目的、限制条件三个方面对现有各种触发机制进行了系统评估。

DTQ1600-80A自升式塔式起重机的串级调速系统

介绍了山东电力建设一公司自行制造的自升式塔式起重机串级调速系统的工作原理和操作控制以及防止负载下降时产生滑降的方法;提出了今后为提高塔式起重机使用效率可采用双馈调速的观点,随同介绍了其工作原理和有关措施.

动态自触发通信下多智能体输出反馈包容控制

针对群系统通信网络带宽受限问题,提出一种动态自触发通信下有向高阶非线性多智能体输出反馈包容控制方法。首先,针对群系统通信网络带宽受限问题,提出一种新型动态自触发通信机制。与传统事件触发通信机制相比,所提出的动态自触发通信机制具有更大的触发阈值,且无需连续监测系统状态信息,进一步节省系统通信资源和传感器资源。其次,为所有智能个体设计输出反馈控制协议,驱使所有跟随者收敛到由多个领导者围成的动态凸包中,从而实现网络的多领导者包容控制。最后,以高超声速飞行器群系统为例,验证了控制方法的有效性和理论分析的正确性。

基于级间自触发Marx电路的高压阻尼振荡发生器

为了增大输出电压的同时减小高压阻尼振荡发生器的体积和降低其成本,建立了一种4×4级间自触发Marx结构的阻尼振荡发生器模型。该模型每级的主开关采用基于电容触发方式的串联IGBT模块,只需提供一路隔离信号控制一级放电开关管的导通和关断,通过级间电容实现对相邻级放电管的栅极自动充电和放电,使其导通和关断。该模型提高了Marx单级的工作电压和简化了每级的驱动电路,并且通过加入缓冲电路,解决开关管动态、静态均压问题。基于这种拓扑结构搭建了一台高压阻尼振荡发生器样机,在电感负载上输出16 kV、振荡频率1 MHz的阻尼振荡波形,波形上升时间约为75 ns,重复频率500 Hz。样机体积小巧、工作稳定,验证了该方案的可行性。

动力定位船舶鲁棒自适应异步自触发控制

针对动力定位船舶的通信带宽受限、执行器增益不确定性等问题,本文提出了一种异步自触发动力定位控制策略。该策略设计了一种自触发机制,解决了传统事件触发方法需要对触发条件进行连续监控这一约束,即下一触发时刻仅需要根据当前时刻的相关信息进行计算。对于具有多个执行器的动力定位船舶,每个执行器的自触发机制相互独立互不影响,即其每个控制器-执行器信道中的控制信号均为异步触发式传输。此外,对于每个执行器设计了一个自适应参数对其增益不确定性进行在线估计和补偿。通过仿真实验对上述控制策略进行验证,仿真结果表明:所提出算法具有较高的定位精度与稳定性能,且极大程度上减少了控制信号的传输次数,相较于对比算法减少了100倍传输次数,具有低通信负载的优点,更加符合工程需求。

基于观测器的有向通信下多母线直流微电网分布式自触发二次调节

基于动态一致性的均值观测是多母线微电网分布式二次调节的常用方法,然而,当前该方法通信和计算频率高,而现有针对静态一致性的自触发方法难以直接应用于动态一致性上,且并未考虑有向通信网络平衡性可能引起的观测误差和二次调节误差等问题。因此,该文提出有向通信下基于观测器的分布式自触发二次调节策略。首先,为直流微电网设计基于动态一致性的分布式平均状态观测器,定量证明在权重平衡有向通信网络下的收敛特性。基于观测器设计分散式二次调节器,并证明该二次调节结构可等效为虚拟全连接通信拓扑,具有良好的动态性能。然后,设计基于分布式自触发的通信和更新机制,实现微源-微源间、微源-远端母线电压采集器间的间歇式通信以及触发式电流和平均母线电压二次调节,并证明李雅普诺夫稳定性。最后,设计触发时间修正方法,提高自触发响应速度。MATLAB/Simulink仿真表明,相比无触发二次调节,准稳态时,可降低二次调节系统通信频率95%、计算频率75%;相比现有自触发方法,可降低平均触发频率54.6%,进而更加有效地降低系统通信和网络负载,提高二次调节系统的实用性和可靠性。

基于PID理论的自触发MPC移动机器人控制方法

为解决常规自触发模型预测控制(STMPC)应用于移动机器人系统会因为附加扰动而产生系统状态突变问题,针对具有输入、输出约束及附加扰动的移动机器人系统,提出一种基于比例、微分和积分(PID)的自触发模型预测控制(PID-STMPC)算法,以降低最优控制问题(OCP)的求解频次,并削弱残余误差和状态突变对机器人的系统影响。在实际移动机器人系统中对所开发的PID-STMPC算法有效性进行了实验验证。实验结果表明:与常规STMPC相比,所提出的PID-STMPC策略,能够有效提高机器人系统的控制性能,在减少系统54.63%响应时间的同时降低控制器84.62%的计算资源消耗。

形状记忆辅助自修复材料的研究进展

近年来,随着对长寿命、多功能可持续材料需求的增长,有关形状记忆辅助自修复材料的研究也在日益增多。本文重点探讨了该类材料的形状记忆效应对其自修复功能所提供的贡献,全面总结了形状记忆辅助自修复材料的设计策略以及触发机制。此外,基于该类材料所面临的问题和挑战,对其未来的发展趋势进行了展望。本文有助于该领域的研究人员全面了解形状记忆辅助自修复材料的发展现状,具有借鉴和指导意义。