The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world sit...The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world situation,the communication is often disturbed and inaccurate.Hence,the unknown disturbances are considered in the velocity measurements,which is assumed to be bounded and does not need to be modelled.Moreover,a complicated nonlinear interaction among agents is presented in the design of control.Based on the existing work of multi-agent systems,a flocking control protocol is proposed to address the formation problem in the dynamic topology.The stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved eventually.Finally,some simulations are presented to verify the effectiveness of the proposed algorithm.展开更多
针对空中下载(Over The Air,OTA)升级失败时,实时操作系统(Real Time Operating System,RTOS)控制器无法进行软件回滚的问题,提出了一种双分区升级技术,此技术分为同面启动升级和异面启动升级。同面启动升级通过外扩存储器作为备份分区...针对空中下载(Over The Air,OTA)升级失败时,实时操作系统(Real Time Operating System,RTOS)控制器无法进行软件回滚的问题,提出了一种双分区升级技术,此技术分为同面启动升级和异面启动升级。同面启动升级通过外扩存储器作为备份分区,升级时将原程序复制至备份分区后将软件下载至激活分区启动执行;而异面启动升级通过读取控制器分区信息将软件下载至备份分区,利用地址重映射技术和SWAP AB技术进行分区切换,从而实现升级或失败时软件回滚。通过搭建测试环境验证了该软件回滚技术的可行性、有效性及稳定性。展开更多
基金the National Key Research and Development Program of China(No.2021ZD0112500)the National Natural Scientific Foundation of China(No.12072128)。
文摘The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world situation,the communication is often disturbed and inaccurate.Hence,the unknown disturbances are considered in the velocity measurements,which is assumed to be bounded and does not need to be modelled.Moreover,a complicated nonlinear interaction among agents is presented in the design of control.Based on the existing work of multi-agent systems,a flocking control protocol is proposed to address the formation problem in the dynamic topology.The stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved eventually.Finally,some simulations are presented to verify the effectiveness of the proposed algorithm.
文摘针对空中下载(Over The Air,OTA)升级失败时,实时操作系统(Real Time Operating System,RTOS)控制器无法进行软件回滚的问题,提出了一种双分区升级技术,此技术分为同面启动升级和异面启动升级。同面启动升级通过外扩存储器作为备份分区,升级时将原程序复制至备份分区后将软件下载至激活分区启动执行;而异面启动升级通过读取控制器分区信息将软件下载至备份分区,利用地址重映射技术和SWAP AB技术进行分区切换,从而实现升级或失败时软件回滚。通过搭建测试环境验证了该软件回滚技术的可行性、有效性及稳定性。
