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
In this paper,the electromagnetic performance of variable flux memory(VFM)machines with series-magnetic-circuit is investigated and compared for different rotor topologies.Based on a V-type VFM machine,five topologies...In this paper,the electromagnetic performance of variable flux memory(VFM)machines with series-magnetic-circuit is investigated and compared for different rotor topologies.Based on a V-type VFM machine,five topologies with different interior permanent magnet(IPM)arrangements are evolved and optimized under same constrains.Based on two-dimensional(2-D)finite element(FE)method,their electromagnetic performance at magnetization and demagnetization states is evaluated.It reveals that the iron bridge and rotor lamination region between constant PM(CPM)and variable PM(VPM)play an important role in torque density and flux regulation(FR)capabilities.Besides,the global efficiency can be improved in VFM machines by adjusting magnetization state(MS)under different operating conditions.展开更多
The Internet of Things(IoT)has witnessed a significant surge in adoption,particularly through the utilization of Wireless Sensor Networks(WSNs),which comprise small internet-connected devices.These deployments span va...The Internet of Things(IoT)has witnessed a significant surge in adoption,particularly through the utilization of Wireless Sensor Networks(WSNs),which comprise small internet-connected devices.These deployments span various environments and offer a multitude of benefits.However,the widespread use of battery-powered devices introduces challenges due to their limited hardware resources and communication capabilities.In response to this,the Internet Engineering Task Force(IETF)has developed the IPv6 Routing Protocol for Low-power and Lossy Networks(RPL)to address the unique requirements of such networks.Recognizing the critical role of RPL in maintaining high performance,this paper proposes a novel approach to optimizing power consumption.Specifically,it introduces a developed sensor motes topology integrated with a Radio Duty Cycling(RDC)mechanism aimed at minimizing power usage.Through rigorous analysis,the paper evaluates the power efficiency of this approach through several simulations conducted across different network topologies,including random,linear,tree,and elliptical topologies.Additionally,three distinct RDC mechanisms—CXMAC,ContikiMAC,and NullRDC—are investigated to assess their impact on power consumption.The findings of the study,based on a comprehensive and deep analysis of the simulated results,highlight the efficiency of ContikiMAC in power conservation.This research contributes valuable insights into enhancing the energy efficiency of RPL-based IoT networks,ultimately facilitating their widespread deployment and usability in diverse environments.展开更多
To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.Firs...To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.展开更多
This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distribu...This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distributed control strategy that ensures the output of each follower converges to the convex hull formed by the outputs of a group of leaders in mean square sense.A novel distributed observer is proposed by tackling both Markovian randomly switching topologies and unbounded delays.Then,a distributed state feedback controller and a distributed output feedback controller are developed based on the distributed observer,respectively.Finally,simulation results are provided to demonstrate the effectiveness of the proposed controllers.展开更多
Kallima butterflies are famous for their leaf-mimicking wing patterns.Yet the characterization of Kallima species is still under debate owing to their high phenotypic similarity.With the release of the K.inachus refer...Kallima butterflies are famous for their leaf-mimicking wing patterns.Yet the characterization of Kallima species is still under debate owing to their high phenotypic similarity.With the release of the K.inachus reference genome,phylogenetic studies based on genome-wide data have been carried out,thus improving the understanding of the evolutionary relationships of the genus Kallima.However,we noticed that there is some conflict between genome-based phylogenies and morphological classifications in butterflies.We further examined the cause of this conflict by conducting an in-depth study of the relationships among Kallima butterflies to test possible reticulate phylogenetic topologies.We constructed phylogenies based on various datasets(including SNPs in single-copy genes,coding sequences,neutral regions and all remaining sites across the genome)to compare the topologies,revealing the complex evolutionary history of Kallima butterflies.Our results suggest that the reticulate species topology may constitute a pervasive pattern present not only in species with adaptive radiations but also in gradually evolving species,with Kallima butterflies as an example.展开更多
This paper studies the time-varying formation-containment tracking control problems for unmanned aerial vehicle(UAV)swarm systems with switching topologies and a non-cooperative target,where the UAV swarm systems cons...This paper studies the time-varying formation-containment tracking control problems for unmanned aerial vehicle(UAV)swarm systems with switching topologies and a non-cooperative target,where the UAV swarm systems consist of one tracking-leader,several formation-leaders,and followers.The formation-leaders are required to accomplish a predefined time-varying formation and track the desired trajectory of the tracking-leader,and the states of the followers should converge to the convex hull spanned by those of the formation-leaders.First,a formation-containment tracking protocol is proposed with the neighboring relative information,and the feasibility condition for formation-containment tracking and the algebraic Riccati equation are given.Then,the stability of the control system with the designed control protocol is proved by constructing a reasonable Lyapunov function.Finally,the simulation examples are applied to verify the effectiveness of the theoretical results.The simulation results show that both the formation tracking error and the containment error are convergent,so the system can complete the formation containment tracking control well.In the actual battlefield,combat UAVs need to chase and attack hostile UAVs,but sometimes when multiple UAVs work together for military interception,formationcontainment tracking control will occur.展开更多
In this paper, we have studied the topology of some classical functional spaces. Among these spaces, there are standard spaces, spaces that can be metrizable and others that cannot be metrizable. But they are all topo...In this paper, we have studied the topology of some classical functional spaces. Among these spaces, there are standard spaces, spaces that can be metrizable and others that cannot be metrizable. But they are all topological vector spaces and it is in this context that we have chosen to present this work. We are interested in the topology of its spaces and in the topologies of their dual spaces. The first part, we presented the fundamental topological properties of topological vector spaces. The second part, we studied Frechet spaces and particularly the space S(R<sup>n</sup>) of functions of class C<sup>∞ </sup>on R<sup>n</sup> which are as well as all their rapidly decreasing partial derivatives. We have also studied its dual S'(Rn</sup>) the space of tempered distributions. The last part aims to define a topological structure on an increasing union of Frechet spaces called inductive limit of Frechet spaces. We study in particular the space D(Ω) of functions of class C<sup>∞</sup> with compact supports on Ω as well as its dual D' (Ω) the space distributions over the open set Ω.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
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.
基金supported by the CRRC Zhuzhou Institute Company Ltd.and in part by Key R&D projects in Hunan+1 种基金ChinaNo.2022GK2062。
文摘In this paper,the electromagnetic performance of variable flux memory(VFM)machines with series-magnetic-circuit is investigated and compared for different rotor topologies.Based on a V-type VFM machine,five topologies with different interior permanent magnet(IPM)arrangements are evolved and optimized under same constrains.Based on two-dimensional(2-D)finite element(FE)method,their electromagnetic performance at magnetization and demagnetization states is evaluated.It reveals that the iron bridge and rotor lamination region between constant PM(CPM)and variable PM(VPM)play an important role in torque density and flux regulation(FR)capabilities.Besides,the global efficiency can be improved in VFM machines by adjusting magnetization state(MS)under different operating conditions.
文摘The Internet of Things(IoT)has witnessed a significant surge in adoption,particularly through the utilization of Wireless Sensor Networks(WSNs),which comprise small internet-connected devices.These deployments span various environments and offer a multitude of benefits.However,the widespread use of battery-powered devices introduces challenges due to their limited hardware resources and communication capabilities.In response to this,the Internet Engineering Task Force(IETF)has developed the IPv6 Routing Protocol for Low-power and Lossy Networks(RPL)to address the unique requirements of such networks.Recognizing the critical role of RPL in maintaining high performance,this paper proposes a novel approach to optimizing power consumption.Specifically,it introduces a developed sensor motes topology integrated with a Radio Duty Cycling(RDC)mechanism aimed at minimizing power usage.Through rigorous analysis,the paper evaluates the power efficiency of this approach through several simulations conducted across different network topologies,including random,linear,tree,and elliptical topologies.Additionally,three distinct RDC mechanisms—CXMAC,ContikiMAC,and NullRDC—are investigated to assess their impact on power consumption.The findings of the study,based on a comprehensive and deep analysis of the simulated results,highlight the efficiency of ContikiMAC in power conservation.This research contributes valuable insights into enhancing the energy efficiency of RPL-based IoT networks,ultimately facilitating their widespread deployment and usability in diverse environments.
基金National Natural Science Foundation of China(No.62073296)Natural Science Foundation of Zhejiang Province,China(No.LZ23F030010)Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province,China Jiliang University(No.ZNZZSZ-CJLU2022-03)Rights and permissions。
文摘To address fixed-time consensus problems of a class of leader-follower second-order nonlinear multi-agent systems with uncertain external disturbances,the event-triggered fixed-time consensus protocol is proposed.First,the virtual velocity is designed based on the backstepping control method to achieve the system consensus and the bound on convergence time only depending on the system parameters.Second,an event-triggered mechanism is presented to solve the problem of frequent communication between agents,and triggered condition based on state information is given for each follower.It is available to save communication resources,and the Zeno behaviors are excluded.Then,the delay and switching topologies of the system are also discussed.Next,the system stabilization is analyzed by Lyapunov stability theory.Finally,simulation results demonstrate the validity of the presented method.
文摘This paper addresses the problem of containment control for heterogeneous multi-agent systems subject to Markovian randomly switching topologies and unbounded communication delays.The objective is to design a distributed control strategy that ensures the output of each follower converges to the convex hull formed by the outputs of a group of leaders in mean square sense.A novel distributed observer is proposed by tackling both Markovian randomly switching topologies and unbounded delays.Then,a distributed state feedback controller and a distributed output feedback controller are developed based on the distributed observer,respectively.Finally,simulation results are provided to demonstrate the effectiveness of the proposed controllers.
基金supported by grants from the National Natural Science Foundation of China(32325009,32170420)the Peking-Tsinghua Center for Life Sciences,and the State Key Laboratory of Protein and Plant Gene Research to WZ and grants from the China Postdoctoral Science Foundation(2023M730082,BX20230026)to SW.
文摘Kallima butterflies are famous for their leaf-mimicking wing patterns.Yet the characterization of Kallima species is still under debate owing to their high phenotypic similarity.With the release of the K.inachus reference genome,phylogenetic studies based on genome-wide data have been carried out,thus improving the understanding of the evolutionary relationships of the genus Kallima.However,we noticed that there is some conflict between genome-based phylogenies and morphological classifications in butterflies.We further examined the cause of this conflict by conducting an in-depth study of the relationships among Kallima butterflies to test possible reticulate phylogenetic topologies.We constructed phylogenies based on various datasets(including SNPs in single-copy genes,coding sequences,neutral regions and all remaining sites across the genome)to compare the topologies,revealing the complex evolutionary history of Kallima butterflies.Our results suggest that the reticulate species topology may constitute a pervasive pattern present not only in species with adaptive radiations but also in gradually evolving species,with Kallima butterflies as an example.
基金National Natural Science Foundation of China(No.62003129)。
文摘This paper studies the time-varying formation-containment tracking control problems for unmanned aerial vehicle(UAV)swarm systems with switching topologies and a non-cooperative target,where the UAV swarm systems consist of one tracking-leader,several formation-leaders,and followers.The formation-leaders are required to accomplish a predefined time-varying formation and track the desired trajectory of the tracking-leader,and the states of the followers should converge to the convex hull spanned by those of the formation-leaders.First,a formation-containment tracking protocol is proposed with the neighboring relative information,and the feasibility condition for formation-containment tracking and the algebraic Riccati equation are given.Then,the stability of the control system with the designed control protocol is proved by constructing a reasonable Lyapunov function.Finally,the simulation examples are applied to verify the effectiveness of the theoretical results.The simulation results show that both the formation tracking error and the containment error are convergent,so the system can complete the formation containment tracking control well.In the actual battlefield,combat UAVs need to chase and attack hostile UAVs,but sometimes when multiple UAVs work together for military interception,formationcontainment tracking control will occur.
文摘In this paper, we have studied the topology of some classical functional spaces. Among these spaces, there are standard spaces, spaces that can be metrizable and others that cannot be metrizable. But they are all topological vector spaces and it is in this context that we have chosen to present this work. We are interested in the topology of its spaces and in the topologies of their dual spaces. The first part, we presented the fundamental topological properties of topological vector spaces. The second part, we studied Frechet spaces and particularly the space S(R<sup>n</sup>) of functions of class C<sup>∞ </sup>on R<sup>n</sup> which are as well as all their rapidly decreasing partial derivatives. We have also studied its dual S'(Rn</sup>) the space of tempered distributions. The last part aims to define a topological structure on an increasing union of Frechet spaces called inductive limit of Frechet spaces. We study in particular the space D(Ω) of functions of class C<sup>∞</sup> with compact supports on Ω as well as its dual D' (Ω) the space distributions over the open set Ω.
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.
