This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters wh...This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.展开更多
This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise co...This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.展开更多
This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated ...This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation controllers.The effectiveness of the proposed algorithms is demonstrated through simulation results.展开更多
The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with ti...The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.展开更多
Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To...Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.展开更多
The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is propo...The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is proposed for a memory proportional and integral （PI） feedback controller with adaptation to distributed time-delay. The feedback controller with memory simultaneously contains the current state and the past distributed information of the addressed systems. The design for adaptation law to distributed delay is very concise. The controller can be derived by solving a set of linear matrix inequalities （LMIs）. Two numerical examples are given to illustrate the effectiveness of the design method.展开更多
To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target ...To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.展开更多
Enlightened by distribution of creatures in natural ecology environment, the distributionpopulation-based genetic algorithm (DPGA) is presented in this paper. The searching capability ofthe algorithm is improved by co...Enlightened by distribution of creatures in natural ecology environment, the distributionpopulation-based genetic algorithm (DPGA) is presented in this paper. The searching capability ofthe algorithm is improved by competition between distribution populations to reduce the search zone.This method is applied to design of optimal parameters of PID controllers with examples, and thesimulation results show that satisfactory performances are obtained.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we id...This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we identify several avenues for enhancing existing methods.This survey describes some models of robots and commonly considered control objec-tives,followed by an in-depth analysis of four types of algo-rithms that can be employed for passing-through control:leader-follower formation control,multi-robot trajectory planning,con-trol-based methods,and virtual tube planning and control.Fur-thermore,we conduct a comparative analysis of these tech-niques and provide some subjective and general evaluations.展开更多
This paper introduces a hierarchical real-time environment for developing ship-bornefire-control system. Advanced computer networks are used to simulate the system with the requiredengagement scenario, including own-s...This paper introduces a hierarchical real-time environment for developing ship-bornefire-control system. Advanced computer networks are used to simulate the system with the requiredengagement scenario, including own-ship and parameters, and data processing and transmission,mission calculation, graphical supervision and gunnery ballistics outputting. The simulation systemis able to receive instruction from, or send information to the command-control center. Furthermore,the system can also be used to compare various designed schemes and analyze the accuracy andeffectiveness of the system.展开更多
The distributed generator over the last 30years has posed several challenges when they are connected to a distributed network.The most immediate problem is to change the voltage at the connection point depending on th...The distributed generator over the last 30years has posed several challenges when they are connected to a distributed network.The most immediate problem is to change the voltage at the connection point depending on the power supplied to the network and may cause it to exceed statutory limits.This paper describes a new control scheme for a distributed generator for supporting the voltage control in the network,thus ensuring the distributed generator to contribute to network voltage management.The scheme performance is demonstrated by a model for a distributed generator connected to a distribution network.The result shows that using the new control scheme,the distribution network voltage constraints are maintained while maximizing the active power delivered by distributed generators.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
The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and t...The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.展开更多
To solve the problem of distributed tasks-platforms scheduling in holonic command and control(C2) organization,the basic elements of the organization are analyzed firstly and the formal description of organizational e...To solve the problem of distributed tasks-platforms scheduling in holonic command and control(C2) organization,the basic elements of the organization are analyzed firstly and the formal description of organizational elements and structure is provided. Based on the improvement of task execution quality,a single task resource scheduling model is established and the solving method based on the m-best algorithm is proposed. For the problem of tactical decision-holon cannot handle tasks with low priority effectively, a distributed resource scheduling collaboration mechanism based on platform pricing and a platform exchange mechanism based on resource capacities are designed. Finally,a series of experiments are designed to prove the effectiveness of these methods. The results show that the proposed distributed scheduling methods can realize the effective balance of platform resources.展开更多
The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the l...The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.展开更多
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
文摘This paper proposes a distributed event-triggered control(ETC)framework to address cooperative target fencing challenges in UAV swarm.The proposed architecture eliminates the reliance on preset formation parameters while achieving multi-objective cooperative control for target fencing,network connectivity preservation,collision avoidance,and communication efficiency optimization.Firstly,a differential state observer is constructed to obtain the target's unmeasurable states.Secondly,leveraging swarm selforganization principles,a geometric-constraint-free distributed fencing controller is designed by integrating potential field methods with consensus theory.The controller dynamically adjusts inter-UAV distances via single potential function,enabling coordinated optimization of persistent network connectivity and collision-free motion during target fencing.Thirdly,a dual-threshold ETC mechanism based on velocity consensus deviation and fencing error is proposed,which can be triggered based on task features to dynamically adjust the communication frequency,significantly reduce the communication burden and exclude Zeno behavior.Theoretical analysis demonstrates the stability of closed-loop systems.Multi-scenario simulations show that the proposed method can achieve robust fencing under target maneuverability,partial UAV failures,and communication disturbances.
基金supported by the National Natural Science Foundation of China(61673130).
文摘This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.
基金This work was supported by the Deanship of Scientific Research(DSR)at King Abdulaziz University,Jeddah(G-363-135-1438).
文摘This paper addresses the cooperative control problem of multiple unmanned aerial vehicles(multi-UAV)systems.First,a new distributed consensus algorithm for second-order nonlinear multi-agent systems(MAS)is formulated under the leader-following approach.The algorithm provides smooth input signals to the agents’control channels,which avoids the chattering effect generated by the conventional sliding mode-based control protocols.Second,a new formation control scheme is developed by integrating smooth distributed consensus control protocols into the geometric pattern model to achieve three-dimensional formation tracking.The Lyapunov theory is used to prove the stability and convergence of both distributed consensus and formation controllers.The effectiveness of the proposed algorithms is demonstrated through simulation results.
基金supported by the National Natural Science Fundation of China(5147618751506221)+1 种基金the Natural Science Basic Research Plan in Shaanxi Province of China(2015JQ51792015JM5207)
文摘The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.
基金Project(K117K06225)supported by JSPS KAKENHI,Japan
文摘Remote control process system with distributed time-delay has attracted much attention in different fields.In this paper,non-linear remote control of a single tank process system with wireless network is considered.To deal with the distributed time-delay in a large-scale plant,the time-delay compensation controller based on DCS devices is designed by using operator theory and particle filter.Distributed control system(DCS)device is developed to monitor and control from the central monitoring room to each process.The particle filter is a probabilistic method to estimate unobservable information from observable information.First,remote control system and experimental equipment are introduced.Second,control system based on an operator theory is designed.Then,process system with distributed time-delay using particle filter is carried out.Finally,the actual experiment is conducted by using the proposed time-delay compensation controller.When estimating with the proposed method,the result is close to the case in which the distributed time-delay does not exist.The effectiveness of the proposed control system is confirmed by experiment results.
基金supported by the National Natural Science Foundation of China (60804017 60835001+3 种基金 60904020 60974120)the Foundation of Doctor (20070286039 20070286001)
文摘The problem on stabilization for the system with distributed delays is researched. The distributed time-delay under consideration is assumed to be a constant time-delay, but not known exactly. A design method is proposed for a memory proportional and integral （PI） feedback controller with adaptation to distributed time-delay. The feedback controller with memory simultaneously contains the current state and the past distributed information of the addressed systems. The design for adaptation law to distributed delay is very concise. The controller can be derived by solving a set of linear matrix inequalities （LMIs）. Two numerical examples are given to illustrate the effectiveness of the design method.
基金supported by the National Natural Science Foundation of China(62373187)Forward-looking Layout Special Projects(ILA220591A22).
文摘To meet the requirements of modern air combat,an integrated fire/flight control(IFFC)system is designed to achieve automatic precision tracking and aiming for armed helicopters and release the pilot from heavy target burden.Considering the complex dynamic characteristics and the couplings of armed helicopters,an improved automatic attack system is con-structed to integrate the fire control system with the flight con-trol system into a unit.To obtain the optimal command signals,the algorithm is investigated to solve nonconvex optimization problems by the contracting Broyden Fletcher Goldfarb Shanno(C-BFGS)algorithm combined with the trust region method.To address the uncertainties in the automatic attack system,the memory nominal distribution and Wasserstein distance are introduced to accurately characterize the uncertainties,and the dual solvable problem is analyzed by using the duality the-ory,conjugate function,and dual norm.Simulation results verify the practicality and validity of the proposed method in solving the IFFC problem on the premise of satisfactory aiming accu-racy.
文摘Enlightened by distribution of creatures in natural ecology environment, the distributionpopulation-based genetic algorithm (DPGA) is presented in this paper. The searching capability ofthe algorithm is improved by competition between distribution populations to reduce the search zone.This method is applied to design of optimal parameters of PID controllers with examples, and thesimulation results show that satisfactory performances are obtained.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
文摘This survey presents a comprehensive review of vari-ous methods and algorithms related to passing-through control of multi-robot systems in cluttered environments.Numerous studies have investigated this area,and we identify several avenues for enhancing existing methods.This survey describes some models of robots and commonly considered control objec-tives,followed by an in-depth analysis of four types of algo-rithms that can be employed for passing-through control:leader-follower formation control,multi-robot trajectory planning,con-trol-based methods,and virtual tube planning and control.Fur-thermore,we conduct a comparative analysis of these tech-niques and provide some subjective and general evaluations.
文摘This paper introduces a hierarchical real-time environment for developing ship-bornefire-control system. Advanced computer networks are used to simulate the system with the requiredengagement scenario, including own-ship and parameters, and data processing and transmission,mission calculation, graphical supervision and gunnery ballistics outputting. The simulation systemis able to receive instruction from, or send information to the command-control center. Furthermore,the system can also be used to compare various designed schemes and analyze the accuracy andeffectiveness of the system.
基金supported by EPSRC SUPERGEN 1 Renewal Core-FlexNet:Renewal of the Supergen Consortium on Future Network Technologies.EPSRC GRANT Reference EP/E4011X/1
文摘The distributed generator over the last 30years has posed several challenges when they are connected to a distributed network.The most immediate problem is to change the voltage at the connection point depending on the power supplied to the network and may cause it to exceed statutory limits.This paper describes a new control scheme for a distributed generator for supporting the voltage control in the network,thus ensuring the distributed generator to contribute to network voltage management.The scheme performance is demonstrated by a model for a distributed generator connected to a distribution network.The result shows that using the new control scheme,the distribution network voltage constraints are maintained while maximizing the active power delivered by distributed generators.
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.
文摘The formation maintenance of multiple unmanned aerial vehicles(UAVs)based on proximity behavior is explored in this study.Individual decision-making is conducted according to the expected UAV formation structure and the position,velocity,and attitude information of other UAVs in the azimuth area.This resolves problems wherein nodes are necessarily strongly connected and communication is strictly consistent under the traditional distributed formation control method.An adaptive distributed formation flight strategy is established for multiple UAVs by exploiting proximity behavior observations,which remedies the poor flexibility in distributed formation.This technique ensures consistent position and attitude among UAVs.In the proposed method,the azimuth area relative to the UAV itself is established to capture the state information of proximal UAVs.The dependency degree factor is introduced to state update equation based on proximity behavior.Finally,the formation position,speed,and attitude errors are used to form an adaptive dynamic adjustment strategy.Simulations are conducted to demonstrate the effectiveness and robustness of the theoretical results,thus validating the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(6157301761703425)+2 种基金the Aeronautical Science Fund(20175796014)Shaanxi Province Natural Science Foundation(2016JQ60622017JM6062)
文摘To solve the problem of distributed tasks-platforms scheduling in holonic command and control(C2) organization,the basic elements of the organization are analyzed firstly and the formal description of organizational elements and structure is provided. Based on the improvement of task execution quality,a single task resource scheduling model is established and the solving method based on the m-best algorithm is proposed. For the problem of tactical decision-holon cannot handle tasks with low priority effectively, a distributed resource scheduling collaboration mechanism based on platform pricing and a platform exchange mechanism based on resource capacities are designed. Finally,a series of experiments are designed to prove the effectiveness of these methods. The results show that the proposed distributed scheduling methods can realize the effective balance of platform resources.
基金supported by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61321002)the Projects of Major International(Regional)Joint Research Program(61120106010)+5 种基金the National Natural Science Foundation of China(61175112)the Beijing Education Committee Cooperation Building Foundation Projectthe Program for Changjiang Scholars and Innovative Research Team in University(IRT1208)the Changjiang Scholars Programthe Science and Technology Project of Education Department of Fujian Province(JA12370)the Beijing Outstanding Ph.D.Program Mentor Grant(20131000704)
文摘The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the fol- lowers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws.
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.
