This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order ...This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.展开更多
This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired traje...This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.展开更多
Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the comb...Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the combat group,this task suffers from credit assignment problem more than other rein-forcement learning tasks.This study uses reward shaping to relieve the credit assignment problem and improve policy train-ing for the new generation of large-scale unmanned combat operations.We first prove that multiple reward shaping func-tions would not change the Nash Equilibrium in stochastic games,providing theoretical support for their use.According to the characteristics of combat operations,we propose tactical reward shaping(TRS)that comprises maneuver shaping advice and threat assessment-based attack shaping advice.Then,we investigate the effects of different types and combinations of shaping advice on combat policies through experiments.The results show that TRS improves both the efficiency and attack accuracy of combat policies,with the combination of maneuver reward shaping advice and ally-focused attack shaping advice achieving the best performance compared with that of the base-line strategy.展开更多
As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication ...As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.展开更多
In this paper,we mainly focus on a type of nonlinear Choquard equations with nonconstant potential.Under appropriate hypotheses on potential function and nonlinear terms,we prove that the above Choquard equation with ...In this paper,we mainly focus on a type of nonlinear Choquard equations with nonconstant potential.Under appropriate hypotheses on potential function and nonlinear terms,we prove that the above Choquard equation with prescribed 2-norm has some normalized solutions by introducing variational methods.展开更多
Herein,we report the synthesis and third-order nonlinear optical(NLO)properties of a novel cage-based 2D metal-organic framework constructed from Ti_(4)L_(6)(L4-=embonate)cage combined with Mg^(2+)and tris[4-(1H-imida...Herein,we report the synthesis and third-order nonlinear optical(NLO)properties of a novel cage-based 2D metal-organic framework constructed from Ti_(4)L_(6)(L4-=embonate)cage combined with Mg^(2+)and tris[4-(1H-imidazol-1-yl)phenyl]amine(tipa)ligand,whose molecular formula is(Me_(2)CH_(2))_(2)[Mg_(3)(Ti_(4)L_(6))(tipa)(H_(2)O)_(12)](PTC‑378).The Ti_(4)L_(6)tetrahedral cages serve as robust building units,while the Mg^(2+)ions and tipa ligands provide structural stability and tunable optical properties.The resulting PTC‑378 film exhibited intriguing third-order NLO property,which was systematically investigated using Z-scan techniques.Our results demonstrate that the synergistic interaction between Ti_(4)L_(6)cages andπ-conjugated ligands significantly enhances the NLO performance of the materials.CCDC:2453909.展开更多
With the urgent need to resolve complex behaviors in nonlinear evolution equations,this study makes a contribution by establishing the local existence of solutions for Cauchy problems associated with equations of mixe...With the urgent need to resolve complex behaviors in nonlinear evolution equations,this study makes a contribution by establishing the local existence of solutions for Cauchy problems associated with equations of mixed types.Our primary contribution is the establishment of solution existence,illuminating the dynamics of these complex equations.To tackle this challenging problem,we construct an approximate solution sequence and apply the contraction mapping principle to rigorously prove local solution existence.Our results significantly advance the understanding of nonlinear evolution equations of mixed types.Furthermore,they provide a versatile,powerful approach for tackling analogous challenges across physics,engineering,and applied mathematics,making this work a valuable reference for researchers in these fields.展开更多
An evolution inequality of Sobolev type involving a nonlinear convolution term is considered.By using the nonlinear capacity method and the contradiction argument,the non-existence of the nontrivial local weak solutio...An evolution inequality of Sobolev type involving a nonlinear convolution term is considered.By using the nonlinear capacity method and the contradiction argument,the non-existence of the nontrivial local weak solution is proved.展开更多
The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex...The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex beams for various applications.In this work,the second harmonic(SH)optical vortex beams generated from nonlinear fork gratings under Gaussian beam illumination are numerically investigated.The far-field intensity and phase distributions,as well as the orbital angular momentum(OAM)spectra of the SH beams,are analyzed for different structural topological charges and diffraction orders.Results reveal that higher-order diffraction and larger structural topological charges lead to angular interference patterns and non-uniform intensity distributions,deviating from the standard vortex profile.To optimize the SH vortex quality,the effects of the fundamental wave beam waist,crystal thickness,and grating duty cycle are explored.It is shown that increasing the beam waist can effectively suppress diffraction order interference and improve the beam’s quality.This study provides theoretical guidance for enhancing the performance of nonlinear optical devices based on NPCs.展开更多
In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introduc...In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introducing only one additional evaluation of the function in each step.Furthermore,some new efficient methods with a higher-order of convergence are obtained by using only a single matrix inversion in each iteration.Analyses of convergence properties and computational efficiency of these new methods are made and testified by several numerical problems.By comparison,the new schemes are more efficient than the corresponding existing ones,particularly for large problem sizes.展开更多
In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension ...In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.展开更多
基金supported by the National Natural Science Foundation of China(6137510561403334)
文摘This paper investigates the consensus problem of second-order nonlinear multi-agent systems (MASs) via the sliding mode control (SMC) approach. The velocity of each agent is assumed to be unmeasurable. A second-order sliding mode observer is designed to estimate the velocity. Then a distributed discontinuous control law based on first-order SMC is presented to solve the consensus problem. Moreover, to overcome the chatting problem, two controllers based on the boundary layer method and the super-twisting algorithm respectively are presented. It is shown that the MASs will achieve consensus under some given conditions. Some examples are provided to demonstrate the effectiveness of the proposed control laws.
文摘This paper addresses the time-varying formation-containment(FC) problem for nonholonomic multi-agent systems with a desired trajectory constraint, where only the leaders can acquire information about the desired trajectory. Input the fixed time-varying formation template to the leader and start executing, this process also needs to track the desired trajectory, and the follower needs to converge to the convex hull that the leader crosses. Firstly, the dynamic models of nonholonomic systems are linearized to second-order dynamics. Then, based on the desired trajectory and formation template, the FC control protocols are proposed. Sufficient conditions to achieve FC are introduced and an algorithm is proposed to resolve the control parameters by solving an algebraic Riccati equation. The system is demonstrated to achieve FC, with the average position and velocity of the leaders converging asymptotically to the desired trajectory. Finally, the theoretical achievements are verified in simulations by a multi-agent system composed of virtual human individuals.
基金Supported by National Basic Research Program of China （973 Program） （2010CB731800）, National Natural Science Foundation of China （60934003, 61074065）, Key Project for Natural Science Research of Hebei Education Department （ZD200908）, and the Doctor Foundation of Northeastern University at Qinhuangdao（XNB201507）
文摘Future unmanned battles desperately require intelli-gent combat policies,and multi-agent reinforcement learning offers a promising solution.However,due to the complexity of combat operations and large size of the combat group,this task suffers from credit assignment problem more than other rein-forcement learning tasks.This study uses reward shaping to relieve the credit assignment problem and improve policy train-ing for the new generation of large-scale unmanned combat operations.We first prove that multiple reward shaping func-tions would not change the Nash Equilibrium in stochastic games,providing theoretical support for their use.According to the characteristics of combat operations,we propose tactical reward shaping(TRS)that comprises maneuver shaping advice and threat assessment-based attack shaping advice.Then,we investigate the effects of different types and combinations of shaping advice on combat policies through experiments.The results show that TRS improves both the efficiency and attack accuracy of combat policies,with the combination of maneuver reward shaping advice and ally-focused attack shaping advice achieving the best performance compared with that of the base-line strategy.
文摘As an important mechanism in multi-agent interaction,communication can make agents form complex team relationships rather than constitute a simple set of multiple independent agents.However,the existing communication schemes can bring much timing redundancy and irrelevant messages,which seriously affects their practical application.To solve this problem,this paper proposes a targeted multiagent communication algorithm based on state control(SCTC).The SCTC uses a gating mechanism based on state control to reduce the timing redundancy of communication between agents and determines the interaction relationship between agents and the importance weight of a communication message through a series connection of hard-and self-attention mechanisms,realizing targeted communication message processing.In addition,by minimizing the difference between the fusion message generated from a real communication message of each agent and a fusion message generated from the buffered message,the correctness of the final action choice of the agent is ensured.Our evaluation using a challenging set of Star Craft II benchmarks indicates that the SCTC can significantly improve the learning performance and reduce the communication overhead between agents,thus ensuring better cooperation between agents.
基金Supported by the National Natural Science Foundation of China(11671403,11671236,12101192)Henan Provincial General Natural Science Foundation Project(232300420113)。
文摘In this paper,we mainly focus on a type of nonlinear Choquard equations with nonconstant potential.Under appropriate hypotheses on potential function and nonlinear terms,we prove that the above Choquard equation with prescribed 2-norm has some normalized solutions by introducing variational methods.
文摘Herein,we report the synthesis and third-order nonlinear optical(NLO)properties of a novel cage-based 2D metal-organic framework constructed from Ti_(4)L_(6)(L4-=embonate)cage combined with Mg^(2+)and tris[4-(1H-imidazol-1-yl)phenyl]amine(tipa)ligand,whose molecular formula is(Me_(2)CH_(2))_(2)[Mg_(3)(Ti_(4)L_(6))(tipa)(H_(2)O)_(12)](PTC‑378).The Ti_(4)L_(6)tetrahedral cages serve as robust building units,while the Mg^(2+)ions and tipa ligands provide structural stability and tunable optical properties.The resulting PTC‑378 film exhibited intriguing third-order NLO property,which was systematically investigated using Z-scan techniques.Our results demonstrate that the synergistic interaction between Ti_(4)L_(6)cages andπ-conjugated ligands significantly enhances the NLO performance of the materials.CCDC:2453909.
基金Supported by the National Natural Science Foundation of China(12201368,62376252)Key Project of Natural Science Foundation of Zhejiang Province(LZ22F030003)Zhejiang Province Leading Geese Plan(2024C02G1123882,2024C01SA100795).
文摘With the urgent need to resolve complex behaviors in nonlinear evolution equations,this study makes a contribution by establishing the local existence of solutions for Cauchy problems associated with equations of mixed types.Our primary contribution is the establishment of solution existence,illuminating the dynamics of these complex equations.To tackle this challenging problem,we construct an approximate solution sequence and apply the contraction mapping principle to rigorously prove local solution existence.Our results significantly advance the understanding of nonlinear evolution equations of mixed types.Furthermore,they provide a versatile,powerful approach for tackling analogous challenges across physics,engineering,and applied mathematics,making this work a valuable reference for researchers in these fields.
基金Supported by Scientific Research Fund of Hunan Provincial Education Departmen(t23A0361)。
文摘An evolution inequality of Sobolev type involving a nonlinear convolution term is considered.By using the nonlinear capacity method and the contradiction argument,the non-existence of the nontrivial local weak solution is proved.
基金supported by the National Nat-ural Science Foundation of China(Nos.12192251,12174185,92163216,and 62288101).
文摘The generation of optical vortices from nonlinear photonic crystals(NPCs)with spatially modulated second-order nonlinearity offers a promising approach to extend the working wavelength and topological charge of vortex beams for various applications.In this work,the second harmonic(SH)optical vortex beams generated from nonlinear fork gratings under Gaussian beam illumination are numerically investigated.The far-field intensity and phase distributions,as well as the orbital angular momentum(OAM)spectra of the SH beams,are analyzed for different structural topological charges and diffraction orders.Results reveal that higher-order diffraction and larger structural topological charges lead to angular interference patterns and non-uniform intensity distributions,deviating from the standard vortex profile.To optimize the SH vortex quality,the effects of the fundamental wave beam waist,crystal thickness,and grating duty cycle are explored.It is shown that increasing the beam waist can effectively suppress diffraction order interference and improve the beam’s quality.This study provides theoretical guidance for enhancing the performance of nonlinear optical devices based on NPCs.
基金Supported by the National Natural Science Foundation of China(12061048)NSF of Jiangxi Province(20232BAB201026,20232BAB201018)。
文摘In this paper,a new technique is introduced to construct higher-order iterative methods for solving nonlinear systems.The order of convergence of some iterative methods can be improved by three at the cost of introducing only one additional evaluation of the function in each step.Furthermore,some new efficient methods with a higher-order of convergence are obtained by using only a single matrix inversion in each iteration.Analyses of convergence properties and computational efficiency of these new methods are made and testified by several numerical problems.By comparison,the new schemes are more efficient than the corresponding existing ones,particularly for large problem sizes.
基金supported by the National Natural Science Foundation of China(42276199).
文摘In order to get rid of the dependence on high-precision centrifuges in accelerometer nonlinear coefficients calibration,this paper proposes a system-level calibration method for field condition.Firstly,a 42-dimension Kalman filter is constructed to reduce impact brought by turntable.Then,a biaxial rotation path is designed based on the accelerometer output model,including orthogonal 22 positions and tilt 12 positions,which enhances gravity excitation on nonlinear coefficients of accelerometer.Finally,sampling is carried out for calibration and further experiments.The results of static inertial navigation experiments lasting 4000 s show that compared with the traditional method,the proposed method reduces the position error by about 390 m.
