In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,non...In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.展开更多
Different from the organization structure of complex projects in Western countries, the Liang Zong hierarchical organization structure of complex projects in China has two different chains, the chief-engineer chain an...Different from the organization structure of complex projects in Western countries, the Liang Zong hierarchical organization structure of complex projects in China has two different chains, the chief-engineer chain and the general-director chain,to handle the trade-off between technical and management decisions. However, previous works on organization search have mainly focused on the single-chain hierarchical organization in which all decisions are regarded as homogeneous. The heterogeneity and the interdependency between technical decisions and management decisions have been neglected. A two-chain hierarchical organization structure mapped from a real complex project is constructed. Then, a discrete decision model for a Liang Zong two-chain hierarchical organization in an NK model framework is proposed. This model proves that this kind of organization structure can reduce the search space by a large amount and that the search process should reach a final stable state more quickly. For a more complicated decision mechanism, a multi-agent simulation based on the above NK model is used to explore the effect of the two-chain organization structure on the speed, stability, and performance of the search process. The results provide three insights into how, compared with the single-chain hierarchical organization, the two-chain organization can improve the search process: it can reduce the number of iterations efficiently; the search is more stable because the search space is a smoother hill-like fitness landscape; in general, the search performance can be improved.However, when the organization structure is very complicated, the performance of a two-chain organization is inferior to that of a single-chain organization. These findings about the efficiency of the unique Chinese-style organization structure can be used to guide organization design for complex projects.展开更多
Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm ...Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.展开更多
With the development of automation in smart grids,network reconfiguration is becoming a feasible approach for improving the operation of distribution systems.A novel reconfiguration strategy was presented to get the o...With the development of automation in smart grids,network reconfiguration is becoming a feasible approach for improving the operation of distribution systems.A novel reconfiguration strategy was presented to get the optimal configuration of improving economy of the system,and then identifying the important nodes.In this strategy,the objectives increase the node importance degree and decrease the active power loss subjected to operational constraints.A compound objective function with weight coefficients is formulated to balance the conflict of the objectives.Then a novel quantum particle swarm optimization based on loop switches hierarchical encoded was employed to address the compound objective reconfiguration problem.Its main contribution is the presentation of the hierarchical encoded scheme which is used to generate the population swarm particles of representing only radial connected solutions.Because the candidate solutions are feasible,the search efficiency would improve dramatically during the optimization process without tedious topology verification.To validate the proposed strategy,simulations are carried out on the test systems.The results are compared with other techniques in order to evaluate the performance of the proposed method.展开更多
Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange （EL） systems. The dynamicleader case is considered. First, with the...Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange （EL） systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network （NN） approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.展开更多
In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a di...In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a discrete-time consensus protocol and obtain the necessary and sufficient conditions for the second-order consensus of the second-order multi-agent system with a fixed structure under the condition of no saturation input.The theoretical derivation verifies that the two eigenvalues of the Laplacian of the communication network matrix and the sampling period have an important effect on achieving consensus.Then we construct and verify sufficient conditions to achieve consensus under the condition of input saturation constraints.The results show that consensus can be achieved if velocity,position gain,and sampling period satisfy a set of inequalities related to the eigenvalues of the Laplacian matrix.Finally,the accuracy and validity of the theoretical results are proved by numerical simulations.展开更多
A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with ...A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.展开更多
接诉即办是实现社会治理智能化、提高人民满意度的重要举措,其中精准分析民众诉求智能匹配工单处理部门,实现诉求的快速响应、高效办理尤为关键;然而,民众诉求数据中的诉求描述不清晰、类别混淆且比例失衡会导致诉求类别分析困难,影响...接诉即办是实现社会治理智能化、提高人民满意度的重要举措,其中精准分析民众诉求智能匹配工单处理部门,实现诉求的快速响应、高效办理尤为关键;然而,民众诉求数据中的诉求描述不清晰、类别混淆且比例失衡会导致诉求类别分析困难,影响了智能派单的效率与准确性。针对上述问题,提出编解码器结构的诉求层次多标签分类模型(HMCHotline)。首先,在文本编码器中引入诉求领域中的细粒度关键词先验知识以抑制噪声干扰,并融合诉求的时空信息提高语义特征的判别力;其次,利用标签层次结构生成具有层次与语义感知的标签嵌入,并构建基于Transformer模型的标签解码器,利用诉求的语义特征和标签嵌入进行标签解码;同时,在标签的层级依赖关系基础上引入动态标签表策略限制标签的解码范围,以解决标签不一致问题;最后,采用Softmax分组策略将样本数量相近的标签类别分为同组进行Softmax操作,从而缓解由标签长尾分布导致的分类准确率低的问题。在Hotline、RCV1(Reuters Corpus VolumeⅠ)-v2和WOS(Web Of Science)数据集上的实验结果表明,相较于层次感知的标签语义匹配网络(HiMatch),所提模型的Micro-F1分别提高了1.65、2.06和0.43个百分点,验证了模型的有效性。展开更多
“光-储-充”配电台区是未来城市配电的一种重要形式,其关键技术之一是以功率调控为核心的实时控制技术。提出一种“光-储-充”配电台区功率分层调控策略,以安全性和经济性为目标,将配电台区并网模式控制策略细化分为功率支撑模式与峰...“光-储-充”配电台区是未来城市配电的一种重要形式,其关键技术之一是以功率调控为核心的实时控制技术。提出一种“光-储-充”配电台区功率分层调控策略,以安全性和经济性为目标,将配电台区并网模式控制策略细化分为功率支撑模式与峰谷套利模式。并通过储能系统和并网换流器(Voltage source converter,VSC)结合构建电力平衡单元,依据台区不平衡功率大小、实时电价和储能荷电状态划分功率层区,给定储能系统与VSC功率参考值,进行联合出力优化,实现台区安全经济运行;在孤岛模式下,利用电动汽车入网(Vehicle to grid,V2G)技术作为储能系统功率调节的补充,增加了台区功率调节能力。最后,在Matlab/Simulink中搭建仿真模型,验证了所提控制策略的准确性和实用性。展开更多
基金This work was supported by Tianjin Natural Science Foundation of China(20JCYBJC01060,20JCQNJC01450)the National Natural Science Foundation of China(61973175)Tianjin Postgraduate Scientific Research and Innovation Project(2020YJSZXB03,2020YJSZXB12).
文摘In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.
基金supported by the National Natural Science Foundation of China(7157105771390522)the Key Lab for Public Engineering Audit of Jiangsu Province,Nanjing Audit University(GGSS2016-08)
文摘Different from the organization structure of complex projects in Western countries, the Liang Zong hierarchical organization structure of complex projects in China has two different chains, the chief-engineer chain and the general-director chain,to handle the trade-off between technical and management decisions. However, previous works on organization search have mainly focused on the single-chain hierarchical organization in which all decisions are regarded as homogeneous. The heterogeneity and the interdependency between technical decisions and management decisions have been neglected. A two-chain hierarchical organization structure mapped from a real complex project is constructed. Then, a discrete decision model for a Liang Zong two-chain hierarchical organization in an NK model framework is proposed. This model proves that this kind of organization structure can reduce the search space by a large amount and that the search process should reach a final stable state more quickly. For a more complicated decision mechanism, a multi-agent simulation based on the above NK model is used to explore the effect of the two-chain organization structure on the speed, stability, and performance of the search process. The results provide three insights into how, compared with the single-chain hierarchical organization, the two-chain organization can improve the search process: it can reduce the number of iterations efficiently; the search is more stable because the search space is a smoother hill-like fitness landscape; in general, the search performance can be improved.However, when the organization structure is very complicated, the performance of a two-chain organization is inferior to that of a single-chain organization. These findings about the efficiency of the unique Chinese-style organization structure can be used to guide organization design for complex projects.
基金supported by the National Natural Science Foundation of China (61903036, 61822304)Shanghai Municipal Science and Technology Major Project (2021SHZDZX0100)。
文摘Collaborative coverage path planning(CCPP) refers to obtaining the shortest paths passing over all places except obstacles in a certain area or space. A multi-unmanned aerial vehicle(UAV) collaborative CCPP algorithm is proposed for the urban rescue search or military search in outdoor environment.Due to flexible control of small UAVs, it can be considered that all UAVs fly at the same altitude, that is, they perform search tasks on a two-dimensional plane. Based on the agents’ motion characteristics and environmental information, a mathematical model of CCPP problem is established. The minimum time for UAVs to complete the CCPP is the objective function, and complete coverage constraint, no-fly constraint, collision avoidance constraint, and communication constraint are considered. Four motion strategies and two communication strategies are designed. Then a distributed CCPP algorithm is designed based on hybrid strategies. Simulation results compared with patternbased genetic algorithm(PBGA) and random search method show that the proposed method has stronger real-time performance and better scalability and can complete the complete CCPP task more efficiently and stably.
基金Project(61102039)supported by the National Natural Science Foundation of ChinaProject(2014AA052600)supported by National Hi-tech Research and Development Plan,China
文摘With the development of automation in smart grids,network reconfiguration is becoming a feasible approach for improving the operation of distribution systems.A novel reconfiguration strategy was presented to get the optimal configuration of improving economy of the system,and then identifying the important nodes.In this strategy,the objectives increase the node importance degree and decrease the active power loss subjected to operational constraints.A compound objective function with weight coefficients is formulated to balance the conflict of the objectives.Then a novel quantum particle swarm optimization based on loop switches hierarchical encoded was employed to address the compound objective reconfiguration problem.Its main contribution is the presentation of the hierarchical encoded scheme which is used to generate the population swarm particles of representing only radial connected solutions.Because the candidate solutions are feasible,the search efficiency would improve dramatically during the optimization process without tedious topology verification.To validate the proposed strategy,simulations are carried out on the test systems.The results are compared with other techniques in order to evaluate the performance of the proposed method.
基金supported by the National Natural Science Foundation of China(6130400561174200)the Research Fund for the Doctoral Program of Higher Education of China(20102302110031)
文摘Based on the idea of backstepping design, distributedcoordinated tracking problems under directed topology are discussedfor multiple Euler-Lagrange （EL） systems. The dynamicleader case is considered. First, with the parameter-linearity property,a distributed coordinated adaptive control scheme is proposedfor EL systems in the presence of parametric uncertainties.Then, subject to nonlinear uncertainties and external disturbances,an improved adaptive control algorithm is developed by usingneural-network （NN） approximation of nonlinear functions. Bothproposed algorithms can make tracking errors for each followerultimately bounded. The closed-loop systems are investigated byusing the combination of graph theory, Lyapunov theory, and BarbalatLemma. Numerical examples and comparisons with othermethods are provided to show the effectiveness of the proposedcontrol strategies.
基金supported by the National Natural Science Foundation of China(61703427).
文摘In recent years,with the continuous development of multi-agent technology represented by unmanned aerial vehicle(UAV)swarm,consensus control has become a hot spot in academic research.In this paper,we put forward a discrete-time consensus protocol and obtain the necessary and sufficient conditions for the second-order consensus of the second-order multi-agent system with a fixed structure under the condition of no saturation input.The theoretical derivation verifies that the two eigenvalues of the Laplacian of the communication network matrix and the sampling period have an important effect on achieving consensus.Then we construct and verify sufficient conditions to achieve consensus under the condition of input saturation constraints.The results show that consensus can be achieved if velocity,position gain,and sampling period satisfy a set of inequalities related to the eigenvalues of the Laplacian matrix.Finally,the accuracy and validity of the theoretical results are proved by numerical simulations.
基金supported by the National Natural Sciences Foundation of China (60974146)
文摘A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.
文摘接诉即办是实现社会治理智能化、提高人民满意度的重要举措,其中精准分析民众诉求智能匹配工单处理部门,实现诉求的快速响应、高效办理尤为关键;然而,民众诉求数据中的诉求描述不清晰、类别混淆且比例失衡会导致诉求类别分析困难,影响了智能派单的效率与准确性。针对上述问题,提出编解码器结构的诉求层次多标签分类模型(HMCHotline)。首先,在文本编码器中引入诉求领域中的细粒度关键词先验知识以抑制噪声干扰,并融合诉求的时空信息提高语义特征的判别力;其次,利用标签层次结构生成具有层次与语义感知的标签嵌入,并构建基于Transformer模型的标签解码器,利用诉求的语义特征和标签嵌入进行标签解码;同时,在标签的层级依赖关系基础上引入动态标签表策略限制标签的解码范围,以解决标签不一致问题;最后,采用Softmax分组策略将样本数量相近的标签类别分为同组进行Softmax操作,从而缓解由标签长尾分布导致的分类准确率低的问题。在Hotline、RCV1(Reuters Corpus VolumeⅠ)-v2和WOS(Web Of Science)数据集上的实验结果表明,相较于层次感知的标签语义匹配网络(HiMatch),所提模型的Micro-F1分别提高了1.65、2.06和0.43个百分点,验证了模型的有效性。
文摘“光-储-充”配电台区是未来城市配电的一种重要形式,其关键技术之一是以功率调控为核心的实时控制技术。提出一种“光-储-充”配电台区功率分层调控策略,以安全性和经济性为目标,将配电台区并网模式控制策略细化分为功率支撑模式与峰谷套利模式。并通过储能系统和并网换流器(Voltage source converter,VSC)结合构建电力平衡单元,依据台区不平衡功率大小、实时电价和储能荷电状态划分功率层区,给定储能系统与VSC功率参考值,进行联合出力优化,实现台区安全经济运行;在孤岛模式下,利用电动汽车入网(Vehicle to grid,V2G)技术作为储能系统功率调节的补充,增加了台区功率调节能力。最后,在Matlab/Simulink中搭建仿真模型,验证了所提控制策略的准确性和实用性。
