In the realm of acoustic signal detection,the identification of weak signals,particularly in the presence of negative signal-to-noise ratios,poses a significant challenge.This challenge is further heightened when sign...In the realm of acoustic signal detection,the identification of weak signals,particularly in the presence of negative signal-to-noise ratios,poses a significant challenge.This challenge is further heightened when signals are acquired through fiber-optic hydrophones,as these signals often lack physical significance and resist clear systematic modeling.Conventional processing methods,e.g.,low-pass filter(LPF),require a thorough understanding of the effective signal bandwidth for noise reduction,and may introduce undesirable time lags.This paper introduces an innovative feedback control method with dual Kalman filters for the demodulation of phase signals with noises in fiber-optic hydrophones.A mathematical model of the closed-loop system is established to guide the design of the feedback control,aiming to achieve a balance with the input phase signal.The dual Kalman filters are instrumental in mitigating the effects of signal noise,observation noise,and control execution noise,thereby enabling precise estimation for the input phase signals.The effectiveness of this feedback control method is demonstrated through examples,showcasing the restoration of low-noise signals,negative signal-to-noise ratio signals,and multi-frequency signals.This research contributes to the technical advancement of high-performance devices,including fiber-optic hydrophones and phase-locked amplifiers.展开更多
In this paper, two kinds of chaotic systems are controlled respectively with and without time-delay to eliminate their chaotic behaviors. First of all, according to the first-order approximation method and the stabili...In this paper, two kinds of chaotic systems are controlled respectively with and without time-delay to eliminate their chaotic behaviors. First of all, according to the first-order approximation method and the stabilization condition of the linear system, one linear feedback controller is structured to control the chaotic system without time-delay, its chaotic behavior is eliminated and stabilized to its equilibrium. After that, based on the first-order approximation method, the Lyapunov stability theorem, and the matrix inequality theory, the other linear feedback controller is structured to control the chaotic system with time-delay and make it stabilized at its equilibrium. Finally, two numerical examples are given to illustrate the correctness and effectiveness of the two linear feedback controllers.展开更多
The lattice Boltzmann method （LBM） and the immersed boundary method （IBM） are alternative, com- putational techniques for solving complex fluid dynamics systems, and can take the place of the Navier-Stokes（N- S）...The lattice Boltzmann method （LBM） and the immersed boundary method （IBM） are alternative, com- putational techniques for solving complex fluid dynamics systems, and can take the place of the Navier-Stokes（N- S） equation. This paper proposes a novel immersed boundary-lattice Boltzmann method （IB-LBM） based on the feedback law. The method uses the immersed boundary concept in the LBM framework to capture the coupling between a body with complex geometry and a uniform fluid, Then, the flows around a stationary circular cylinder and two circular cylinders in a side by side arrangement are simulated by using the method. Results are agreed well with the benchmark data, so, the capability of the method for complex geometry is demonstrated. Different from the conventional IB-LBM, which uses the Hook＇s law or the direct forcing method to compute the interae- tion force, the method uses the feedback law--the feedback of velocity field and displacement information to calculate the force, thus ensuring the method has advantages of easy implementation and full parallelism.展开更多
For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mi...For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.展开更多
In order to solve the problem of reliability modeling and the analysis of complex systems with multiple closed-loop feedbacks,a new reliability analysis method for repairable systems with multiple closed-loop feedback...In order to solve the problem of reliability modeling and the analysis of complex systems with multiple closed-loop feedbacks,a new reliability analysis method for repairable systems with multiple closed-loop feedbacks is proposed based on the goal-oriented(GO)methodology.Firstly,the basic theories and advantages of GO method are introduced.Secondly,a type-24B multiple closed-loop feedback structure operator is proposed through GO method with its operation formula given,which expands the types of GO method operators and the application scope of their reliability analysis.Finally,taking a certain type of diesel engine fuel supply system an example,the quantitative and qualitative analysis is carried out through GO method,Monte Carlo simulation as well as FTA respectively.The availability results verify the availability of the proposed type-24B operator in the reliability analysis of multiple closed-loop feedback systems.The qualitative analysis results indicate the accuracy and usability of the GO method as a qualitative analysis method.展开更多
In this paper,the static output feedback stabilization for large-scale unstable second-order singular systems is investigated.First,the upper bound of all unstable eigenvalues of second-order singular systems is deriv...In this paper,the static output feedback stabilization for large-scale unstable second-order singular systems is investigated.First,the upper bound of all unstable eigenvalues of second-order singular systems is derived.Then,by using the argument principle,a computable stability criterion is proposed to check the stability of secondorder singular systems.Furthermore,by applying model reduction methods to original systems,a static output feedback design algorithm for stabilizing second-order singular systems is presented.A simulation example is provided to illustrate the effectiveness of the design algorithm.展开更多
This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative contro...This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative control algorithm is proposed to optimize trajectories of multi-UAVs for target tracking in approaching stage.Based on UAV kinematics and sensor performance models,optimal trajectory trends of UAVs are analyzed theoretically.Then,feedback guidance methods are proposed under the optimal observation trends of UAVs in the approaching target stage,producing trajectories with far less computational complexity and performance very close to the best-known trajectories.Next,the sufficient condition for the UAV to form the optimal observation configuration by the feedback guidance method is presented,which guarantees that the proposed method can optimize the observation trajectory of the UAV in approaching stage.Finally,the feedback guidance method is numerically simulated.Simulation results demonstrate that the estimation performance of the feedback guidance method is superior to the Lyapunov guidance vector field(LGVF)method and verify the effectiveness of the proposed method.Additionally,compared with the receding horizon optimization(RHO)method,the proposed method has the same optimization ability as the RHO method and better real-time performance.展开更多
In order to solve the problem of difficult modeling and identification caused by time-variable parameters,multiple inputs and outputs and unstable open loop,a subsystem model-based close-loop grey-box identification m...In order to solve the problem of difficult modeling and identification caused by time-variable parameters,multiple inputs and outputs and unstable open loop,a subsystem model-based close-loop grey-box identification method was put forward when consider the main coupling effects of hydraulic Stewart platform.Firstly,the whole system is divided into three TITO(Two Input Two Output) subsystems according to the characteristics of the pseudo-mass matrix,hence transfer function matrix model of the subsystem can also be found.Secondly,since the Stewart platform is unstable,the close-loop transfer model of the subsystem is derived under the proportional controllers.The inverse M serial is adopted as the identification signal to get the experimental data.All parameters of the subsystem are determined in close-loop indirect identification by PEM(Prediction Error Method).Finally,a case study validates the correctness and effectiveness of the subsystem model-based close-loop grey-box identification method for hydraulic Stewart platform.展开更多
A sensitive method to determine the optic axis azimuth of the birefringence element is presented, which is based on laser feedback. The phase difference between the two intensities in birefringence feedback changes wi...A sensitive method to determine the optic axis azimuth of the birefringence element is presented, which is based on laser feedback. The phase difference between the two intensities in birefringence feedback changes with the angle between the optic axis of the birefringence element and laser original polarization. The phase difference is highly sensitive to the relative position of the optic axis and the laser original polarization. This method is used to highly precisely determine the optic axis azimuth, and is able to distinguish between the fast axis and the slow axis of the birefringence element. Theoretical analysis and experimental results are both demonstrated.展开更多
Objective:To determine the most common mistakes made during the use of a metered-dose inhaler(MDI),and the effect of the repeated trainings performed with demonstration method by providing one-to-one feedback on these...Objective:To determine the most common mistakes made during the use of a metered-dose inhaler(MDI),and the effect of the repeated trainings performed with demonstration method by providing one-to-one feedback on these mistakes.Methods:This is a quasi-experimental study with a control group.A total of 100 chronic obstructive pulmonary disease(COPD)patients(50 in the control group and 50 in the experimental group)were included in the research.“Patient Information Form(PIF)”(to determine the descriptive characteristics of patients)through the face-to-face interview method,using“MDI Skill Assessment Form”(MDISAF)(it is composed of 10 skill steps about the use of MDI)through observation method was used.Patients in both the groups were asked to use MDI and their abilities regarding use of MDI were assessed.Then in the intervention group,usage of MDI was explained by a nurse via demonstration and placebo MDI.Trainings were repeated on days 1,3,and 5 as from hospitalization of the patient.In the intervention group,three methods were used in this study:“face-to-face training,”“one-to-one,”and“with feedbacks and repeated.”Routine training regarding use of MDI was given by the nurses in the clinic to patients in the control group.The use of an MDI was assessed using MDISAF before training and after the training on the first,third and fifth days of hospitalization.On the seventh day,the last measurement was performed.Percentage,chi square,and mean were used to assess the data.Results:After repetitive training with one-to-one feedback,several differences between the groups in favor of the experimental group were found in 7 of the 10 skill levels of the MDI.There was a significant difference after“training”between the groups in the third,fourth,fifth,sixth,seventh,eighth and ninth MDI steps in posttest measurement(P<0.05).Evaluating the skills of the groups to use MDI from pretest to posttest,it was determined that while the intervention group made less mistakes in steps in which mistakes were made mostly,the control group continued to make mistakes.Conclusions:Inhaler technique intervention with repeated,face to face,and one-to-one feedback trainings can significantly enhance the MDI techniques in COPD patients.The patients in the intervention group made less mistakes during MDI application and their application skills improved.It may be asser ted that the training provided to the intervention group was effective for using the device correctly,while the training provided in the clinic for the control group was inadequate.展开更多
This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting eff...This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting efficiency. Firstly, to obtain the dimensionless governing equation of the system, the original bistable system is approximated as a system without viscoelastic term by using the stochastic averaging method of energy envelope, and then is further decoupled to derive an equivalent system. The credibility of the proposed method is validated by contrasting the consistency between the numerical and the analytical results of the equivalent system under different noise conditions. The influence of system parameters on average output power is analyzed, and the control effect of the time-delayed feedback control on system performance is compared. The output performance of the system is improved with the occurrence of stochastic resonance(SR). Therefore, the signal-to-noise ratio expression for measuring SR is derived, and the dependence of its SR behavior on different parameters is explored.展开更多
This paper considers the consensus problem of a group of homogeneous agents. These agents are governed by a general linear system and can only directly measure the output, instead of the state. In order to achieve the...This paper considers the consensus problem of a group of homogeneous agents. These agents are governed by a general linear system and can only directly measure the output, instead of the state. In order to achieve the consensus goal, each agent estimates its state through a Luenberger observer, exchanges its estimated state with neighbors, and constructs the control input with the estimated states of its own and neighbors. Due to the existence of observation and process noises, only practical consensus, instead of asymptotical consensus, can be achieved in such multi-agent systems. The performance of the achieved practical consensus can be measured by the ultimate mean square deviation of the states of agents. That performance is closely related to the observation gains of the state observers and the control gains of agents. This paper proposes a method to optimize such performance with respect to the concerned observation and control gains. That method starts with a set of feasible observation and control gains and formulates a group of linear matrix inequalities （LMIs）. Solving these LMIs gives some intermediate matrix variables. By perturbing observation and control gains, and the intermediate matrix variables, the original LMIs yield another group of LMIs, which can be solved to provide a descent direction of observation and control gains. Moving along that descent direction, observation and control gains can be improved to yield better performance and work as the starting point of the next iteration. By iteratively repeating this procedure, we can hopefully improve the consensus performance of the concerned multi-agent system. Simulations are done to demonstrate the effectiveness of the proposed method.展开更多
基金Project supported by the National Key Research and Development Program of China(No.2022YFB3203600)the National Natural Science Foundation of China(Nos.12172323,12132013+1 种基金12332003)the Zhejiang Provincial Natural Science Foundation of China(No.LZ22A020003)。
文摘In the realm of acoustic signal detection,the identification of weak signals,particularly in the presence of negative signal-to-noise ratios,poses a significant challenge.This challenge is further heightened when signals are acquired through fiber-optic hydrophones,as these signals often lack physical significance and resist clear systematic modeling.Conventional processing methods,e.g.,low-pass filter(LPF),require a thorough understanding of the effective signal bandwidth for noise reduction,and may introduce undesirable time lags.This paper introduces an innovative feedback control method with dual Kalman filters for the demodulation of phase signals with noises in fiber-optic hydrophones.A mathematical model of the closed-loop system is established to guide the design of the feedback control,aiming to achieve a balance with the input phase signal.The dual Kalman filters are instrumental in mitigating the effects of signal noise,observation noise,and control execution noise,thereby enabling precise estimation for the input phase signals.The effectiveness of this feedback control method is demonstrated through examples,showcasing the restoration of low-noise signals,negative signal-to-noise ratio signals,and multi-frequency signals.This research contributes to the technical advancement of high-performance devices,including fiber-optic hydrophones and phase-locked amplifiers.
基金Supported by the National Natural Science Foundation of China (61863022)the Natural Science Foundation of Gansu Province(20JR10RA329)Scientific Research and Innovation Fund Project of Gansu University of Chinese Medicine in 2019 (2019KCYB-10)。
文摘In this paper, two kinds of chaotic systems are controlled respectively with and without time-delay to eliminate their chaotic behaviors. First of all, according to the first-order approximation method and the stabilization condition of the linear system, one linear feedback controller is structured to control the chaotic system without time-delay, its chaotic behavior is eliminated and stabilized to its equilibrium. After that, based on the first-order approximation method, the Lyapunov stability theorem, and the matrix inequality theory, the other linear feedback controller is structured to control the chaotic system with time-delay and make it stabilized at its equilibrium. Finally, two numerical examples are given to illustrate the correctness and effectiveness of the two linear feedback controllers.
基金Supported by the Aeronautical Science Foundation of China(20111453012)the National Defense Pre-Research Foundation of China(9140A13040111HK0329)~~
文摘The lattice Boltzmann method （LBM） and the immersed boundary method （IBM） are alternative, com- putational techniques for solving complex fluid dynamics systems, and can take the place of the Navier-Stokes（N- S） equation. This paper proposes a novel immersed boundary-lattice Boltzmann method （IB-LBM） based on the feedback law. The method uses the immersed boundary concept in the LBM framework to capture the coupling between a body with complex geometry and a uniform fluid, Then, the flows around a stationary circular cylinder and two circular cylinders in a side by side arrangement are simulated by using the method. Results are agreed well with the benchmark data, so, the capability of the method for complex geometry is demonstrated. Different from the conventional IB-LBM, which uses the Hook＇s law or the direct forcing method to compute the interae- tion force, the method uses the feedback law--the feedback of velocity field and displacement information to calculate the force, thus ensuring the method has advantages of easy implementation and full parallelism.
文摘For the appearance of the additive perturbation of controller gain when the controller parameter has minute adjustment at the initial running stage of system,to avoid the adverse effects,this paper investigates the mixed H_2/H_∞ state feedback attitude control problem of microsatellite based on extended LMI method.Firstly,the microsatellite attitude control system is established and transformed into corresponding state space form.Then,without the equivalence restriction of the two Lyapunov variables of H_2 and H∞performance,this paper introduces additional variables to design the mixed H_2/H_∞ control method based on LMI which can also reduce the conservatives.Finally,numerical simulations are analyzed to show that the proposed method can make the satellite stable within 20 s whether there is additive perturbation of the controller gain or not.The comparative analysis of the simulation results between extended LMI method and traditional LMI method also demonstrates the effectiveness and feasibility of the proposed method in this paper.
基金supported by the Special Support Project of SASTIND and Technologyof SASTIND(No.JSZL2019XXXB001)。
文摘In order to solve the problem of reliability modeling and the analysis of complex systems with multiple closed-loop feedbacks,a new reliability analysis method for repairable systems with multiple closed-loop feedbacks is proposed based on the goal-oriented(GO)methodology.Firstly,the basic theories and advantages of GO method are introduced.Secondly,a type-24B multiple closed-loop feedback structure operator is proposed through GO method with its operation formula given,which expands the types of GO method operators and the application scope of their reliability analysis.Finally,taking a certain type of diesel engine fuel supply system an example,the quantitative and qualitative analysis is carried out through GO method,Monte Carlo simulation as well as FTA respectively.The availability results verify the availability of the proposed type-24B operator in the reliability analysis of multiple closed-loop feedback systems.The qualitative analysis results indicate the accuracy and usability of the GO method as a qualitative analysis method.
基金Project supported by the National Natural Science Foundation of China(Nos.11971303 and 11871330)。
文摘In this paper,the static output feedback stabilization for large-scale unstable second-order singular systems is investigated.First,the upper bound of all unstable eigenvalues of second-order singular systems is derived.Then,by using the argument principle,a computable stability criterion is proposed to check the stability of secondorder singular systems.Furthermore,by applying model reduction methods to original systems,a static output feedback design algorithm for stabilizing second-order singular systems is presented.A simulation example is provided to illustrate the effectiveness of the design algorithm.
基金support from the National Natural Science Foundation of China(No.61773395)。
文摘This paper mainly studies the problem of using UAVs to provide accurate remote target indication for hypersonic projectiles.Based on the optimal trajectory trends and feedback guidance methods,a new cooperative control algorithm is proposed to optimize trajectories of multi-UAVs for target tracking in approaching stage.Based on UAV kinematics and sensor performance models,optimal trajectory trends of UAVs are analyzed theoretically.Then,feedback guidance methods are proposed under the optimal observation trends of UAVs in the approaching target stage,producing trajectories with far less computational complexity and performance very close to the best-known trajectories.Next,the sufficient condition for the UAV to form the optimal observation configuration by the feedback guidance method is presented,which guarantees that the proposed method can optimize the observation trajectory of the UAV in approaching stage.Finally,the feedback guidance method is numerically simulated.Simulation results demonstrate that the estimation performance of the feedback guidance method is superior to the Lyapunov guidance vector field(LGVF)method and verify the effectiveness of the proposed method.Additionally,compared with the receding horizon optimization(RHO)method,the proposed method has the same optimization ability as the RHO method and better real-time performance.
文摘In order to solve the problem of difficult modeling and identification caused by time-variable parameters,multiple inputs and outputs and unstable open loop,a subsystem model-based close-loop grey-box identification method was put forward when consider the main coupling effects of hydraulic Stewart platform.Firstly,the whole system is divided into three TITO(Two Input Two Output) subsystems according to the characteristics of the pseudo-mass matrix,hence transfer function matrix model of the subsystem can also be found.Secondly,since the Stewart platform is unstable,the close-loop transfer model of the subsystem is derived under the proportional controllers.The inverse M serial is adopted as the identification signal to get the experimental data.All parameters of the subsystem are determined in close-loop indirect identification by PEM(Prediction Error Method).Finally,a case study validates the correctness and effectiveness of the subsystem model-based close-loop grey-box identification method for hydraulic Stewart platform.
基金Project supported by the Natural Science Foundation of Beijing,China(Grant No.3091002)
文摘A sensitive method to determine the optic axis azimuth of the birefringence element is presented, which is based on laser feedback. The phase difference between the two intensities in birefringence feedback changes with the angle between the optic axis of the birefringence element and laser original polarization. The phase difference is highly sensitive to the relative position of the optic axis and the laser original polarization. This method is used to highly precisely determine the optic axis azimuth, and is able to distinguish between the fast axis and the slow axis of the birefringence element. Theoretical analysis and experimental results are both demonstrated.
文摘Objective:To determine the most common mistakes made during the use of a metered-dose inhaler(MDI),and the effect of the repeated trainings performed with demonstration method by providing one-to-one feedback on these mistakes.Methods:This is a quasi-experimental study with a control group.A total of 100 chronic obstructive pulmonary disease(COPD)patients(50 in the control group and 50 in the experimental group)were included in the research.“Patient Information Form(PIF)”(to determine the descriptive characteristics of patients)through the face-to-face interview method,using“MDI Skill Assessment Form”(MDISAF)(it is composed of 10 skill steps about the use of MDI)through observation method was used.Patients in both the groups were asked to use MDI and their abilities regarding use of MDI were assessed.Then in the intervention group,usage of MDI was explained by a nurse via demonstration and placebo MDI.Trainings were repeated on days 1,3,and 5 as from hospitalization of the patient.In the intervention group,three methods were used in this study:“face-to-face training,”“one-to-one,”and“with feedbacks and repeated.”Routine training regarding use of MDI was given by the nurses in the clinic to patients in the control group.The use of an MDI was assessed using MDISAF before training and after the training on the first,third and fifth days of hospitalization.On the seventh day,the last measurement was performed.Percentage,chi square,and mean were used to assess the data.Results:After repetitive training with one-to-one feedback,several differences between the groups in favor of the experimental group were found in 7 of the 10 skill levels of the MDI.There was a significant difference after“training”between the groups in the third,fourth,fifth,sixth,seventh,eighth and ninth MDI steps in posttest measurement(P<0.05).Evaluating the skills of the groups to use MDI from pretest to posttest,it was determined that while the intervention group made less mistakes in steps in which mistakes were made mostly,the control group continued to make mistakes.Conclusions:Inhaler technique intervention with repeated,face to face,and one-to-one feedback trainings can significantly enhance the MDI techniques in COPD patients.The patients in the intervention group made less mistakes during MDI application and their application skills improved.It may be asser ted that the training provided to the intervention group was effective for using the device correctly,while the training provided in the clinic for the control group was inadequate.
基金Project supported by the National Natural Science Foundation of China (Grant No. 11902081)the Science and Technology Projects of Guangzhou (Grant No. 202201010326)the Guangdong Provincial Basic and Applied Basic Research Foundation (Grant No. 2023A1515010833)。
文摘This paper focuses on the stochastic analysis of a viscoelastic bistable energy harvesting system under colored noise and harmonic excitation, and adopts the time-delayed feedback control to improve its harvesting efficiency. Firstly, to obtain the dimensionless governing equation of the system, the original bistable system is approximated as a system without viscoelastic term by using the stochastic averaging method of energy envelope, and then is further decoupled to derive an equivalent system. The credibility of the proposed method is validated by contrasting the consistency between the numerical and the analytical results of the equivalent system under different noise conditions. The influence of system parameters on average output power is analyzed, and the control effect of the time-delayed feedback control on system performance is compared. The output performance of the system is improved with the occurrence of stochastic resonance(SR). Therefore, the signal-to-noise ratio expression for measuring SR is derived, and the dependence of its SR behavior on different parameters is explored.
基金The work of W. Zheng and Q. Ling was partially supported by the National Natural Science Foundation of China （No. 61273112） and the National Key Research and Development Project （No. 2016YFC0201003）. The work of H. Lin was partially supported by the National Science Foundation （Nos. NSF-CNS-1239222, NSF-CNS-1446288, NSF-EECS-1253488）.
文摘This paper considers the consensus problem of a group of homogeneous agents. These agents are governed by a general linear system and can only directly measure the output, instead of the state. In order to achieve the consensus goal, each agent estimates its state through a Luenberger observer, exchanges its estimated state with neighbors, and constructs the control input with the estimated states of its own and neighbors. Due to the existence of observation and process noises, only practical consensus, instead of asymptotical consensus, can be achieved in such multi-agent systems. The performance of the achieved practical consensus can be measured by the ultimate mean square deviation of the states of agents. That performance is closely related to the observation gains of the state observers and the control gains of agents. This paper proposes a method to optimize such performance with respect to the concerned observation and control gains. That method starts with a set of feasible observation and control gains and formulates a group of linear matrix inequalities （LMIs）. Solving these LMIs gives some intermediate matrix variables. By perturbing observation and control gains, and the intermediate matrix variables, the original LMIs yield another group of LMIs, which can be solved to provide a descent direction of observation and control gains. Moving along that descent direction, observation and control gains can be improved to yield better performance and work as the starting point of the next iteration. By iteratively repeating this procedure, we can hopefully improve the consensus performance of the concerned multi-agent system. Simulations are done to demonstrate the effectiveness of the proposed method.
