We consider a model of network formation as a stochastic game with random duration proposed initially in Sun and Parilina(Autom Remote Control 82(6):1065–1082,2021).In the model,the leader first suggests a joint proj...We consider a model of network formation as a stochastic game with random duration proposed initially in Sun and Parilina(Autom Remote Control 82(6):1065–1082,2021).In the model,the leader first suggests a joint project to other players,i.e.,the network connecting them.Second,the players are allowed to form fresh links with each other updating the initially proposed network.The stage payoff of any player is defined depending on the network structure.There are two types of randomness in the network formation process:(i)links may fail to be formed with different probabilities although players intend to establish them,(ii)the game process may terminate at any stage or transit to the next stage with a certain probability distribution.Finally,a network is formed as a result of players’decisions and realization of random variables.The cooperative version of the stochastic game is investigated.In particular,we examine the properties of subgame consistency as well as strong subgame consistency of the core.We provide a payment mechanism or regularization of the core elements to sustain its subgame consistency and avoid the player’s deviations from the cooperative trajectory.In addition,the distribution procedure of the core elements is regularized in case there are negative payments to achieve only nonnegative payments to the players at any stage.The sufficient condition of a strongly subgame consistent core is also obtained.We illustrate our theoretical results with a numerical example.展开更多
In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator ...In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator saturation.Initially,a sliding mode delay-dependent attitude coordinated controller is proposed under bounded external disturbances.However,neither inertia uncertainty nor actuator constraint has been taken into account.Then,a robust saturated delaydependent attitude coordinated control law is further derived,where uncertainties and external disturbances are handled by Chebyshev neural networks（CNN）.In addition,command filter technique is introduced to facilitate the backstepping design procedure,through which actuator saturation problem is solved.Thus the spacecraft in the formation are able to track the reference attitude trajectory even in the presence of time-varying communication delays.Rigorous analysis is presented by using Lyapunov-Krasovskii approach to demonstrate the stability of the closed-loop system under both control algorithms.Finally,the numerical examples are carried out to illustrate the efficiency of the theoretical results.展开更多
基金supported by the Russian Science Foundation(No.22-21-00346)。
文摘We consider a model of network formation as a stochastic game with random duration proposed initially in Sun and Parilina(Autom Remote Control 82(6):1065–1082,2021).In the model,the leader first suggests a joint project to other players,i.e.,the network connecting them.Second,the players are allowed to form fresh links with each other updating the initially proposed network.The stage payoff of any player is defined depending on the network structure.There are two types of randomness in the network formation process:(i)links may fail to be formed with different probabilities although players intend to establish them,(ii)the game process may terminate at any stage or transit to the next stage with a certain probability distribution.Finally,a network is formed as a result of players’decisions and realization of random variables.The cooperative version of the stochastic game is investigated.In particular,we examine the properties of subgame consistency as well as strong subgame consistency of the core.We provide a payment mechanism or regularization of the core elements to sustain its subgame consistency and avoid the player’s deviations from the cooperative trajectory.In addition,the distribution procedure of the core elements is regularized in case there are negative payments to achieve only nonnegative payments to the players at any stage.The sufficient condition of a strongly subgame consistent core is also obtained.We illustrate our theoretical results with a numerical example.
基金co-supported by the National Natural Science Foundation of China(Nos.61633003 and 61522301)Heilongjiang Province Science Foundation for Youths(Nos.QC2012C024 and QC2015064)the Research Fund for Doctoral Program of Higher Education of China(No.20132302110028)
文摘In this paper,attitude coordinated tracking control algorithms for multiple spacecraft formation are investigated with consideration of parametric uncertainties,external disturbances,communication delays and actuator saturation.Initially,a sliding mode delay-dependent attitude coordinated controller is proposed under bounded external disturbances.However,neither inertia uncertainty nor actuator constraint has been taken into account.Then,a robust saturated delaydependent attitude coordinated control law is further derived,where uncertainties and external disturbances are handled by Chebyshev neural networks（CNN）.In addition,command filter technique is introduced to facilitate the backstepping design procedure,through which actuator saturation problem is solved.Thus the spacecraft in the formation are able to track the reference attitude trajectory even in the presence of time-varying communication delays.Rigorous analysis is presented by using Lyapunov-Krasovskii approach to demonstrate the stability of the closed-loop system under both control algorithms.Finally,the numerical examples are carried out to illustrate the efficiency of the theoretical results.
