Achieving industrial-level electrochemical CO_(2)reduction to formate remains a significant challenge due to limitations in catalyst selectivity and interfacial proton management at high current densities.In a recent ...Achieving industrial-level electrochemical CO_(2)reduction to formate remains a significant challenge due to limitations in catalyst selectivity and interfacial proton management at high current densities.In a recent study,Prof.Guo and colleagues report the development of Turingstructured electrocatalysts,which incorporate reaction-diffusion-inspired topologies to engineer mesoscale surface patterns.This design enables precise modulation of the interfacial microenvironment,enhancing CO_(2)activation and suppressing competing hydrogen evolution.The resulting catalysts achieve efficient and stable CO_(2)-to-formate conversion under industrially relevant conditions,offering a promising strategy for scalable carbon-neutral chemical production.展开更多
This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control s...This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.展开更多
Wireless communication-enabled Cooperative Adaptive Cruise Control(CACC)is expected to improve the safety and traffic capacity of vehicle platoons.Existing CACC considers a conventional communication delay with fixed ...Wireless communication-enabled Cooperative Adaptive Cruise Control(CACC)is expected to improve the safety and traffic capacity of vehicle platoons.Existing CACC considers a conventional communication delay with fixed Vehicular Communication Network(VCN)topologies.However,when the network is under attack,the communication delay may be much higher,and the stability of the system may not be guaranteed.This paper proposes a novel communication Delay Aware CACC with Dynamic Network Topologies(DADNT).The main idea is that for various communication delays,in order to maximize the traffic capacity while guaranteeing stability and minimizing the following error,the CACC should dynamically adjust the VCN network topology to achieve the minimum inter-vehicle spacing.To this end,a multi-objective optimization problem is formulated,and a 3-step Divide-And-Conquer sub-optimal solution(3DAC)is proposed.Simulation results show that with 3DAC,the proposed DADNT with CACC can reduce the inter-vehicle spacing by 5%,10%,and 14%,respectively,compared with the traditional CACC with fixed one-vehicle,two-vehicle,and three-vehicle look-ahead network topologies,thereby improving the traffic efficiency.展开更多
It is a challenge to determine the dominant topological characteristics of mechanical properties of adhesive interfaces.In this paper,we used graph theory and molecular dynamics simulation to investigate the influence...It is a challenge to determine the dominant topological characteristics of mechanical properties of adhesive interfaces.In this paper,we used graph theory and molecular dynamics simulation to investigate the influence of topological characteristics on the strength and toughness of highly cross-linked polymer interface systems.Based on the microstructure of the adhesive system,we extracted the dominant topological characteristics,including the connectivity degree(D)that determines the yield strength,and the average node-path(P)and the simple cycles proportions(R)that determine the deformability and load-bearing capacity during the void propagation respectively,which co-determine the toughness.The influence of the wall-effect on the dominant topological characteristics was also analyzed.The results showed that the interfacial yield strength increases with the increase of D,while the toughness increases with the increase of P and R.The wall-effect has a significant influence on D,P,and R.The strong wall-effect causes the enrichment of amino groups near the wall and insufficient cross-linking away from the wall,leading to the lower D and R,i.e.,the lower yield strength and load-bearing capacity during the void propagation.With the attenuation of the wall-effect,the D increases gradually,while the P and the R first increase and then decrease,showing an optimized wall-effect for the toughness of the adhesive interface.This paper reveals the dominant topological characteristics of adhesive interfacial strength and toughness,providing a new way to modulate the mechanical properties of polymer adhesive interface systems.展开更多
This is a short review article in which we discuss and summarize the works of various researchers over past four decades on Zeeman topology and Zeeman-like topologies, which occur in special and general theory of rela...This is a short review article in which we discuss and summarize the works of various researchers over past four decades on Zeeman topology and Zeeman-like topologies, which occur in special and general theory of relativity. We also discuss various properties and inter-relationship of these topologies.展开更多
Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem o...Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.展开更多
This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are...This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.展开更多
This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topol...This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accomplish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual leader UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm system formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algorithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elaborated to verify the validity of the proposed approach.展开更多
This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles(ASVs)under switching interaction topologies.For the target to be tracked,only its position can be measured/received ...This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles(ASVs)under switching interaction topologies.For the target to be tracked,only its position can be measured/received by some of the ASVs,and its velocity is unavailable to all the ASVs.A distributed extended state observer taking into consideration switching topologies is designed to integrally estimate unknown target dynamics and neighboring ASVs'dynamics.Accordingly,a novel kinematic controller is designed,which takes full advantage of known information and avoids the approximation of some virtual control vectors.Moreover,a disturbance observer is presented to estimate unknown time-varying environmental disturbance.Furthermore,a distributed dynamic controller is designed to regulate the involved ASVs to cooperatively track the target.It enables each ASV to adjust its forces and moments according to the received information from its neighbors.The effectiveness of the derived results is demonstrated through cooperative target tracking performance analysis for a tracking system composed of five interacting ASVs.展开更多
In order to pursue good crushing load uniformity and enchance energy absorption efficiency of conventional honeycombs, a kind of bio-inspired hierarchical honeycomb model is proposed by mimicking the arched crab shell...In order to pursue good crushing load uniformity and enchance energy absorption efficiency of conventional honeycombs, a kind of bio-inspired hierarchical honeycomb model is proposed by mimicking the arched crab shell structures. Three bio-inspired hierarchical honeycombs(BHHs) with different topologies are designed by replacing each vertex of square honeycombs with smaller arc-shaped structures. The effects of hierarchical topologies and multi-material layout on in-plane dynamic crushings and absorbed-energy capacities of the BHHs are explored based on the explicit finite element(FE) analysis.Different deformation modes can be observed from the BHHs, which mainly depend upon hierarchical topologies and impact velocities. According to energy efficiency method and one-dimensional(1D) shock theory, calculation formulas of densification strains and plateau stresses for the BHHs are derived to characterize the dynamic bearing capacity, which is consistent well with FE results. Compared with conventional honeycombs, the crushing load efficiency and energy absorption capacity of the BHHs can be improved by changing the proper hierarchical topology and multi-material layout. These researches will provide theoretical guidance for innovative design and dynamic response performance controllability of honeycombs.展开更多
This study investigates cooperative guidance problems for multiple missiles with fixed and switching directed communication topologies. A two-step guidance strategy is proposed to realize the simultaneous attack. In t...This study investigates cooperative guidance problems for multiple missiles with fixed and switching directed communication topologies. A two-step guidance strategy is proposed to realize the simultaneous attack. In the first step, a distributed cooperative guidance law is designed using local neighboring information for multiple missiles to achieve consensus on range-to-go and leading angle. The second step begins when the consensus of multiple missiles is realized. During the second step, multiple missiles disconnect from each other and hit the target using the proportional navigation guidance law. First, based on the local neighboring communications, a sufficient condition for multiple missiles to realize simultaneous attack with a fixed communication topology is presented, where the topology is only required to have a directed spanning tree. Then,the results are extended to the case of switching communication topologies. Finally, numerical simulations are provided to validate the theoretical results.展开更多
The controlled and efficient synthesis of polymers with tailored topologies is challenging but important for exploring structure/property research. Herein, we proposed a concept of macro-latent monomer to achieve the ...The controlled and efficient synthesis of polymers with tailored topologies is challenging but important for exploring structure/property research. Herein, we proposed a concept of macro-latent monomer to achieve the controlled growth of polymer topologies.The macro-latent monomer was installed by a dynamic furan/maleimide covalent bond at the chain terminal. One-shot reversible additionfragmentation chain transfer(RAFT) polymerization of styrene and the macro-latent monomer created controlled growth of polymer topologies.Low temperature such as 40 ℃ could not activate the macro-latent monomer and thus the polymerization created the homo-polystyrene. By contrast, high temperature of ~110 ℃ activated the macro-latent monomer, and a maleimide-terminated macro-monomer was released via the retro-Diels Alder reaction. This macro-monomer immediately joined the cross polymerization with styrene and thus produced the side chains. By delicately manipulating the polymerization temperature, the predetermined placement of the macro-latent monomer-derived polymeric sidechains created controllably growing topologies, including star-, π-shaped, and density-variable grafting copolymers. This work paved a new way for creating on-demand topologies and would greatly enrich the topology synthesis.展开更多
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog...This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.展开更多
We propose a new approach to discuss the consensus problem of multi-agent systems with time-varying delayed control inputs, switching topologies, and stochastic cyber-attacks under hybrid-triggered mechanism.A Bernoul...We propose a new approach to discuss the consensus problem of multi-agent systems with time-varying delayed control inputs, switching topologies, and stochastic cyber-attacks under hybrid-triggered mechanism.A Bernoulli variable is used to describe the hybrid-triggered scheme, which is introduced to alleviate the burden of the network.The mathematical model of the closed-loop control system is established by taking the influences of time-varying delayed control inputs,switching topologies, and stochastic cyber-attacks into account under the hybrid-triggered scheme.A theorem as the main result is given to make the system consistent based on the theory of Lyapunov stability and linear matrix inequality.Markov jumps with uncertain rates of transitions are applied to describe the switch of topologies.Finally, a simulation example demonstrates the feasibility of the theory in this paper.展开更多
The paper addresses the issue of H_(∞)couple-group consensus for a class of discrete-time stochastic multi-agent systems via output-feedback control.Both fixed and Markovian switching communication topologies are con...The paper addresses the issue of H_(∞)couple-group consensus for a class of discrete-time stochastic multi-agent systems via output-feedback control.Both fixed and Markovian switching communication topologies are considered.By employing linear transformations,the closed-loop systems are converted into reduced-order systems and the H_(∞)couplegroup consensus issue under consideration is changed into a stochastic H_(∞)control problem.New conditions for the mean-square asymptotic stability and H_(∞)performance of the reduced-order systems are proposed.On the basis of these conditions,constructive approaches for the design of the output-feedback control protocols are developed for the fixed communication topology and the Markovian switching communication topologies,respectively.Finally,two numerical examples are given to illustrate the applicability of the present design approaches.展开更多
Containment control of first-order multi-agent systems with uncertain topologies and communication timedelays is studied. Suppose system topologies are dynamically changed, a containment control algorithm with time-va...Containment control of first-order multi-agent systems with uncertain topologies and communication timedelays is studied. Suppose system topologies are dynamically changed, a containment control algorithm with time-varying delays is presented. The stability of the control algorithm is studied under the assumption that communication topologies are jointly-connected, and constraint condition of distributed containment control for delayed multi-agent systems is derived with the aid of Lyapunov–Krasovskii function. Simulation results are provided to prove the correctness and effectiveness of the conclusion.展开更多
We discuss the effects of the surface slip on streamline patterns and their bifurcations for the peristaltic transport of a Newtonian fluid. The flow is in a two-dimensional symmetric channel or an axisymmetric tube. ...We discuss the effects of the surface slip on streamline patterns and their bifurcations for the peristaltic transport of a Newtonian fluid. The flow is in a two-dimensional symmetric channel or an axisymmetric tube. An exact expression for the stream function is obtained in the wave frame under the assumptions of long wavelength and low Reynolds number for both cases. For the discussion of the particle path in the wave frame, a system of nonlinear autonomous differential equations is established and the methods of dynamical systems are used to discuss the local bifurcations and their topological changes. Moreover, all types of bifurcations and their topological changes are discussed graphically. Finally, the global bifurcation diagram is used to summarize the bifurcations.展开更多
Consensus problems of high-order continuous-time multi-agent systems with time-delays and switching topologies are studied. The motivation of this work is to extend second-order continuous-time multi-agent systems fro...Consensus problems of high-order continuous-time multi-agent systems with time-delays and switching topologies are studied. The motivation of this work is to extend second-order continuous-time multi-agent systems from the liter- ature. It is shown that consensus can be reached with arbitrarily bounded time-delays even though the communication topology might not have spanning trees. A numerical example is included to show the theoretical results.展开更多
Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, ...Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, in many cases, agent dynamics often show the characteristic of switching during the process of consensus. This paper considers consensus problem of general linear multi-agent system under both switching agent dynamics and jumping network topologies. Within the proposed multi-agent system, the agent dynamic switching is assumed to be deterministic, while the network topology jumping is considered respectively for two cases： deterministic jumping （Case 1） and Markov jumping （Case 2）. By applying the dwell time and the average dwell time techniques, a sufficient consensus and an almost sure consensus conditions are provided for these two cases, respectively. Finally, two numerical examples are presented to demonstrate the theoretical results.展开更多
In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulato...In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are directed.First,a disturbance observer is presented to suppress the influence of unknown external disturbance,and the equivalent compensation is introduced into the control protocol in multi-manipulator systems.Then,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching topologies.Finally,two simulation examples verify the validity of the theoretical result.展开更多
基金financially supported by the National Natural Science Foundation of China(No.22209024)Tongcheng R&D Foundation(No.CPCIF-RA-0102)the State Key Laboratory of Advanced Fiber Materials,Donghua University
文摘Achieving industrial-level electrochemical CO_(2)reduction to formate remains a significant challenge due to limitations in catalyst selectivity and interfacial proton management at high current densities.In a recent study,Prof.Guo and colleagues report the development of Turingstructured electrocatalysts,which incorporate reaction-diffusion-inspired topologies to engineer mesoscale surface patterns.This design enables precise modulation of the interfacial microenvironment,enhancing CO_(2)activation and suppressing competing hydrogen evolution.The resulting catalysts achieve efficient and stable CO_(2)-to-formate conversion under industrially relevant conditions,offering a promising strategy for scalable carbon-neutral chemical production.
文摘This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.
基金supported by the National Natural Science Foundation of China under Grant U21A20449in part by Jiangsu Provincial Key Research and Development Program under Grant BE2021013-2。
文摘Wireless communication-enabled Cooperative Adaptive Cruise Control(CACC)is expected to improve the safety and traffic capacity of vehicle platoons.Existing CACC considers a conventional communication delay with fixed Vehicular Communication Network(VCN)topologies.However,when the network is under attack,the communication delay may be much higher,and the stability of the system may not be guaranteed.This paper proposes a novel communication Delay Aware CACC with Dynamic Network Topologies(DADNT).The main idea is that for various communication delays,in order to maximize the traffic capacity while guaranteeing stability and minimizing the following error,the CACC should dynamically adjust the VCN network topology to achieve the minimum inter-vehicle spacing.To this end,a multi-objective optimization problem is formulated,and a 3-step Divide-And-Conquer sub-optimal solution(3DAC)is proposed.Simulation results show that with 3DAC,the proposed DADNT with CACC can reduce the inter-vehicle spacing by 5%,10%,and 14%,respectively,compared with the traditional CACC with fixed one-vehicle,two-vehicle,and three-vehicle look-ahead network topologies,thereby improving the traffic efficiency.
基金supported by the National Key R&D Program of China(Grant No.2021YFA0719200)the National Natural Science Foundation of China(Grant Nos.12272391,12232020,and 11672314)the CAS Project for Young Scientists in Basic Research(Grant No.YSBR-096).
文摘It is a challenge to determine the dominant topological characteristics of mechanical properties of adhesive interfaces.In this paper,we used graph theory and molecular dynamics simulation to investigate the influence of topological characteristics on the strength and toughness of highly cross-linked polymer interface systems.Based on the microstructure of the adhesive system,we extracted the dominant topological characteristics,including the connectivity degree(D)that determines the yield strength,and the average node-path(P)and the simple cycles proportions(R)that determine the deformability and load-bearing capacity during the void propagation respectively,which co-determine the toughness.The influence of the wall-effect on the dominant topological characteristics was also analyzed.The results showed that the interfacial yield strength increases with the increase of D,while the toughness increases with the increase of P and R.The wall-effect has a significant influence on D,P,and R.The strong wall-effect causes the enrichment of amino groups near the wall and insufficient cross-linking away from the wall,leading to the lower D and R,i.e.,the lower yield strength and load-bearing capacity during the void propagation.With the attenuation of the wall-effect,the D increases gradually,while the P and the R first increase and then decrease,showing an optimized wall-effect for the toughness of the adhesive interface.This paper reveals the dominant topological characteristics of adhesive interfacial strength and toughness,providing a new way to modulate the mechanical properties of polymer adhesive interface systems.
文摘This is a short review article in which we discuss and summarize the works of various researchers over past four decades on Zeeman topology and Zeeman-like topologies, which occur in special and general theory of relativity. We also discuss various properties and inter-relationship of these topologies.
基金supported by National Natural Science Foundation of China(Nos.61104092,61134007 and 61203147)the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘Consensus problem is investigated for heterogeneous multi-agent systems composed of first-order agents and second-order agents in this paper. Leader-following consensus protocol is adopted to solve consensus problem of heterogeneous multi-agent systems with time-varying communication and input delays. By constructing Lyapunov-Krasovkii functional, sufficient consensus conditions in linear matrix inequality(LMI) form are obtained for the system under fixed interconnection topology. Moreover, consensus conditions are also obtained for the heterogeneous systems under switching topologies with time delays. Simulation examples are given to illustrate effectiveness of the results.
基金supported in part by the Australian Research Council Discovery Project(DP160103567)the program of Jiangsu Specially-Appointed Professor(RK043STP19001)+1 种基金the fund of high-level talents at NJUPT(XK0430919039)the fund of scientific and technological innovation projects for overseas students in Nanjing(RK043NLX19004)。
文摘This paper addresses the problem of distributed secondary control for islanded AC microgrids with external disturbances.By using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite time.For voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage level.Different from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication topologies.Based on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite time.On the surface,the voltages of DGs are regulated to the reference level in finite time.For frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication topologies.Finally,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.
基金co-supported by the Key-area Research and Development Program of Guangdong ProvinceChina(No.2019B090915001)+2 种基金National Key R&D Program of China(No.2018YFB1308000),National Natural Science Funds of China(Nos.61772508,U1913202,U1813205,U1713213)CAS Key Technology Talent Program,Shenzhen Technology ProjectChina(Nos.JCYJ20180507182610734,JSGG20191129094012321).
文摘This paper tackles the robust leaderless Time-Varying Formation(TVF)control problem for the Unmanned Aerial Vehicle(UAV)swarm system with Lipschitz nonlinear dynamics,external disturbances and directed switching topologies.In comparison with the previous achievements on formation control problems,the UAV swarm system with Lipschitz nonlinear dynamics can accomplish the pre-designed TVF while tracking a pre-given trajectory which is produced by a virtual leader UAV in the presence of external disturbances.Firstly,by applying the consensus theory,a TVF controller is developed with the local neighborhood status information,the errors of real time status of all UAVs,the expected formation configuration and the pre-given trajectory under directed switching topologies.Secondly,through a certain matrix variable substitution,the UAV swarm system formation control issue is transformed into a lower dimensional asymptotically stable control issue.Thirdly,by introducing the minimum dwell time,the design steps of formation control algorithm are further acquired.In the meantime,the stability of the UAV swarm system is analyzed through the construction of a piecewise continuous Lyapunov functional and via the Linear Matrix Inequalities(LMIs)method.Finally,the comparison results of a numerical simulation are elaborated to verify the validity of the proposed approach.
基金supported in part by the National Science Foundation of China(61873335,61833011)the Project of Scie nce and Technology Commission of Shanghai Municipality,China(20ZR1420200,21SQBS01600,19510750300,21190780300)。
文摘This paper is concerned with the cooperative target tracking of multiple autonomous surface vehicles(ASVs)under switching interaction topologies.For the target to be tracked,only its position can be measured/received by some of the ASVs,and its velocity is unavailable to all the ASVs.A distributed extended state observer taking into consideration switching topologies is designed to integrally estimate unknown target dynamics and neighboring ASVs'dynamics.Accordingly,a novel kinematic controller is designed,which takes full advantage of known information and avoids the approximation of some virtual control vectors.Moreover,a disturbance observer is presented to estimate unknown time-varying environmental disturbance.Furthermore,a distributed dynamic controller is designed to regulate the involved ASVs to cooperatively track the target.It enables each ASV to adjust its forces and moments according to the received information from its neighbors.The effectiveness of the derived results is demonstrated through cooperative target tracking performance analysis for a tracking system composed of five interacting ASVs.
基金the financial support provided by the Natural Science Foundation of Hebei Province of China [No. A2020502005]the Fundamental Research Funds for the Central Universities [No. 2020MS113]Science & Technology Program of Baoding [No. 1911ZG019]。
文摘In order to pursue good crushing load uniformity and enchance energy absorption efficiency of conventional honeycombs, a kind of bio-inspired hierarchical honeycomb model is proposed by mimicking the arched crab shell structures. Three bio-inspired hierarchical honeycombs(BHHs) with different topologies are designed by replacing each vertex of square honeycombs with smaller arc-shaped structures. The effects of hierarchical topologies and multi-material layout on in-plane dynamic crushings and absorbed-energy capacities of the BHHs are explored based on the explicit finite element(FE) analysis.Different deformation modes can be observed from the BHHs, which mainly depend upon hierarchical topologies and impact velocities. According to energy efficiency method and one-dimensional(1D) shock theory, calculation formulas of densification strains and plateau stresses for the BHHs are derived to characterize the dynamic bearing capacity, which is consistent well with FE results. Compared with conventional honeycombs, the crushing load efficiency and energy absorption capacity of the BHHs can be improved by changing the proper hierarchical topology and multi-material layout. These researches will provide theoretical guidance for innovative design and dynamic response performance controllability of honeycombs.
基金co-supported by the National Natural Science Foundation of China (Nos. 61503009, 61333011 and 61421063)the Aeronautical Science Foundation of China (No. 2016ZA51005)+1 种基金the Fundamental Research Funds for the Central Universities of China (No. YWF-14-RSC-101)the Excellence Foundation of BUAA for Ph.D. Students (No.2017016)
文摘This study investigates cooperative guidance problems for multiple missiles with fixed and switching directed communication topologies. A two-step guidance strategy is proposed to realize the simultaneous attack. In the first step, a distributed cooperative guidance law is designed using local neighboring information for multiple missiles to achieve consensus on range-to-go and leading angle. The second step begins when the consensus of multiple missiles is realized. During the second step, multiple missiles disconnect from each other and hit the target using the proportional navigation guidance law. First, based on the local neighboring communications, a sufficient condition for multiple missiles to realize simultaneous attack with a fixed communication topology is presented, where the topology is only required to have a directed spanning tree. Then,the results are extended to the case of switching communication topologies. Finally, numerical simulations are provided to validate the theoretical results.
基金financially supported by the National Natural Science Foundation of China(Nos.21925107 and 21674072)the Collaborative Innovation Center of Suzhou Nano Science and Technology+1 种基金the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)the Program of Innovative Research Team of Soochow University。
文摘The controlled and efficient synthesis of polymers with tailored topologies is challenging but important for exploring structure/property research. Herein, we proposed a concept of macro-latent monomer to achieve the controlled growth of polymer topologies.The macro-latent monomer was installed by a dynamic furan/maleimide covalent bond at the chain terminal. One-shot reversible additionfragmentation chain transfer(RAFT) polymerization of styrene and the macro-latent monomer created controlled growth of polymer topologies.Low temperature such as 40 ℃ could not activate the macro-latent monomer and thus the polymerization created the homo-polystyrene. By contrast, high temperature of ~110 ℃ activated the macro-latent monomer, and a maleimide-terminated macro-monomer was released via the retro-Diels Alder reaction. This macro-monomer immediately joined the cross polymerization with styrene and thus produced the side chains. By delicately manipulating the polymerization temperature, the predetermined placement of the macro-latent monomer-derived polymeric sidechains created controllably growing topologies, including star-, π-shaped, and density-variable grafting copolymers. This work paved a new way for creating on-demand topologies and would greatly enrich the topology synthesis.
文摘This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61074159 and 61703286)
文摘We propose a new approach to discuss the consensus problem of multi-agent systems with time-varying delayed control inputs, switching topologies, and stochastic cyber-attacks under hybrid-triggered mechanism.A Bernoulli variable is used to describe the hybrid-triggered scheme, which is introduced to alleviate the burden of the network.The mathematical model of the closed-loop control system is established by taking the influences of time-varying delayed control inputs,switching topologies, and stochastic cyber-attacks into account under the hybrid-triggered scheme.A theorem as the main result is given to make the system consistent based on the theory of Lyapunov stability and linear matrix inequality.Markov jumps with uncertain rates of transitions are applied to describe the switch of topologies.Finally, a simulation example demonstrates the feasibility of the theory in this paper.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61503002 and 61573008)
文摘The paper addresses the issue of H_(∞)couple-group consensus for a class of discrete-time stochastic multi-agent systems via output-feedback control.Both fixed and Markovian switching communication topologies are considered.By employing linear transformations,the closed-loop systems are converted into reduced-order systems and the H_(∞)couplegroup consensus issue under consideration is changed into a stochastic H_(∞)control problem.New conditions for the mean-square asymptotic stability and H_(∞)performance of the reduced-order systems are proposed.On the basis of these conditions,constructive approaches for the design of the output-feedback control protocols are developed for the fixed communication topology and the Markovian switching communication topologies,respectively.Finally,two numerical examples are given to illustrate the applicability of the present design approaches.
基金Supported by the National Natural Science Foundation of China under Grant Nos.61273152,61304052,51407088the Science Foundation of Education Office of Shandong Province of China under Grant Nos.ZR2011FM07,BS2015DX018
文摘Containment control of first-order multi-agent systems with uncertain topologies and communication timedelays is studied. Suppose system topologies are dynamically changed, a containment control algorithm with time-varying delays is presented. The stability of the control algorithm is studied under the assumption that communication topologies are jointly-connected, and constraint condition of distributed containment control for delayed multi-agent systems is derived with the aid of Lyapunov–Krasovskii function. Simulation results are provided to prove the correctness and effectiveness of the conclusion.
文摘We discuss the effects of the surface slip on streamline patterns and their bifurcations for the peristaltic transport of a Newtonian fluid. The flow is in a two-dimensional symmetric channel or an axisymmetric tube. An exact expression for the stream function is obtained in the wave frame under the assumptions of long wavelength and low Reynolds number for both cases. For the discussion of the particle path in the wave frame, a system of nonlinear autonomous differential equations is established and the methods of dynamical systems are used to discuss the local bifurcations and their topological changes. Moreover, all types of bifurcations and their topological changes are discussed graphically. Finally, the global bifurcation diagram is used to summarize the bifurcations.
基金supported by the National Natural Science Foundation of China (Grant No. 60672029)the National Basic Research Program of China (Grant No. 2009CB320505)the National Defense Science and Technology Foundation of State Key Laboratory of Secure Communication (Grant No. 9140C1104020903)
文摘Consensus problems of high-order continuous-time multi-agent systems with time-delays and switching topologies are studied. The motivation of this work is to extend second-order continuous-time multi-agent systems from the liter- ature. It is shown that consensus can be reached with arbitrarily bounded time-delays even though the communication topology might not have spanning trees. A numerical example is included to show the theoretical results.
基金supported by National Natural Science Foundation of China(No.61573237)Shanghai Natural Science Fund(No.13ZR1416300)
文摘Consensus of multi-agent systems is an interesting research topic and has wide applications in science and engineering. The agents considered in most existing studies on consensus problem are time-invariant. However, in many cases, agent dynamics often show the characteristic of switching during the process of consensus. This paper considers consensus problem of general linear multi-agent system under both switching agent dynamics and jumping network topologies. Within the proposed multi-agent system, the agent dynamic switching is assumed to be deterministic, while the network topology jumping is considered respectively for two cases： deterministic jumping （Case 1） and Markov jumping （Case 2）. By applying the dwell time and the average dwell time techniques, a sufficient consensus and an almost sure consensus conditions are provided for these two cases, respectively. Finally, two numerical examples are presented to demonstrate the theoretical results.
基金supported in part by the National Natural Science Foundation of China(No.61803276)the Beijing Municipal Education Commission Science Plan(General Research Project,No.KM201910028004)+1 种基金the Beijing Natural Science Foundation(No.4202011)Key Research Grant of Academy for Multidisciplinary Studies of CNU(No.JCKXYJY2019018).
文摘In this paper,to solve the consensus control problem of multi-manipulator systems under Markov switching topologies,we propose a distributed consensus control strategy based on disturbance observer.In multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are directed.First,a disturbance observer is presented to suppress the influence of unknown external disturbance,and the equivalent compensation is introduced into the control protocol in multi-manipulator systems.Then,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching topologies.Finally,two simulation examples verify the validity of the theoretical result.
