A mass on-line control type impact inertial piezoelectric actuator with a bionic wheat structure is proposed in this work.Inspired by the anisotropic friction mechanism of natural wheat awns,a bioinspired mechanism is...A mass on-line control type impact inertial piezoelectric actuator with a bionic wheat structure is proposed in this work.Inspired by the anisotropic friction mechanism of natural wheat awns,a bioinspired mechanism is used to achieve the designed driving strategy based on the asymmetric-mass control method that mimics bidirectional motion characteristics of wheat awn.A lumped parameter theoretical model is established,and the numerical simulation results have verified the designed bionic working principle and revealed the key system parameters.Experimental results show that the prototype has the bi-directional motion ability inherited from anisotropic friction of wheat awn,with theoretically infinite stroke and can easily obtain the required step displacement and velocity by conveniently adjusting the voltage.It can achieve a resolution of 0.7μm,and a forward and backward maximum velocity of 12.7μm/s and 90.72μm/s respectively.In addition,the actuator also has the advantages of good stability,control convenience,and ease of integration.Besides,the actuator is capable of adjusting motion direction via voltage,providing a significant advantage in precise bidirectional control.This study confirms that the proposed mass on-line control type actuator embodies a successful bionic translation from plant morphology to precision engineering,and adds a new member to the family of impact inertial piezoelectric actuators,which completes the last piece of the puzzle for the impact inertial driving mechanism.It promotes the further development of inertial precision driving and control technology and is expected to expand the scope of application.Future work will focus on optimizing performance and developing applications.展开更多
The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint s...The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.展开更多
The iron and steel production process is one of the predominant anthropogenic sources of atmospheric mercury emissions worldwide. In this study, field tests were conducted to study mercury emission characteristics and...The iron and steel production process is one of the predominant anthropogenic sources of atmospheric mercury emissions worldwide. In this study, field tests were conducted to study mercury emission characteristics and mass flows at two iron and steel plants in China. It was found that low-sulfur flue gas from sintering machines could contribute up to41% of the total atmospheric mercury emissions, and desulfurization devices could remarkably help reduce the emissions. Coal gas burning accounted for 17%–49% of the total mercury emissions, and therefore the mercury control of coal gas burning, specifically for the power plant burning coal gas to generate electricity, was significantly important. The emissions from limestone and dolomite production and electric furnaces can contribute29.3% and 4.2% of the total mercury emissions from iron and steel production. More attention should be paid to mercury emissions from these two processes. Blast furnace dust accounted for 27%–36% of the total mercury output for the whole iron and steel production process. The recycling of blast furnace dust could greatly increase the atmospheric mercury emissions and should not be conducted. The mercury emission factors for the coke oven,sintering machine and blast furnace were 0.039–0.047 g Hg/ton steel, and for the electric furnace it was 0.021 g Hg/ton steel. The predominant emission species was oxidized mercury, accounting for 59%–73% of total mercury emissions to air.展开更多
The electromagnetic mass damper （EMD） control system, as an innovative active control system to reduce structural vibration, offers many advantages over traditional active mass driver/damper （AMD） control systems....The electromagnetic mass damper （EMD） control system, as an innovative active control system to reduce structural vibration, offers many advantages over traditional active mass driver/damper （AMD） control systems. In this paper, studies of several EMD control strategies and bench-scale shaking table tests of a two-story model structure are described. First, two structural models corresponding to uncontrolled and Zeroed cases are developed, and parameters of these models are validated through sinusoidal sweep tests to provide a basis for establishing an accurate mathematical model for further studies. Then, a simplified control strategy for the EMD system based on the pole assignment control algorithm is proposed. Moreover, ideal pole locations are derived and validated through a series of shaking table tests. Finally, three benchmark earthquake ground motions and sinusoidal sweep waves are imposed onto the structure to investigate the effectiveness and feasibility of using this type of innovative active control system for structural vibration control. In addition, the robustness of the EMD system is examined. The test results show that the EMD system is an effective and robust system for the control of structural vibrations.展开更多
Zero mass flux jets, synthesized by acoustic actuators, have been used for the purpose of jet mixing enhancement and jet vectoring. Zero mass flux jets composed of entirely entrained fluid allow momentum transfer into...Zero mass flux jets, synthesized by acoustic actuators, have been used for the purpose of jet mixing enhancement and jet vectoring. Zero mass flux jets composed of entirely entrained fluid allow momentum transfer into the embedding flow. In the present experiments, miniature scale high aspect ratio actuator jets are placed along the long sides and near the exit plane of a primary two dimensional jet. In different modes, the primary jet can be vectored either towards or away from the actuator jets and the jet mixing is enhanced. The disturbance of the excitation frequency is developed while the unstable frequency of the primary jet is completely suppressed.展开更多
Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surfac...Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.展开更多
An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system c...An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system consists of a rigid body and two radial internal moving mass blocks and its mathematical model is established based on Newtonian mechanics.The control scheme integrates a second order sliding mode control algorithm into the last step of the backstepping approach,and its stability is proved by means of a Lyapunov function.The performance of the controller is demonstrated by numerical simulations,the results show that the attitude controller is stable and effective.展开更多
Cryopreservation of cells and tissues (natural or engineered) usually involves complicated protocols for addition and later removal of cryoprotecting agents to avoid osmotic shock and toxicity to cells. The rate of CP...Cryopreservation of cells and tissues (natural or engineered) usually involves complicated protocols for addition and later removal of cryoprotecting agents to avoid osmotic shock and toxicity to cells. The rate of CPA addition and removal is essential to cell survival. In this study, the feasibility of using porous membrane to control the rate of CPA transfer to cell environment is studied, A purpose designed diffusion chamber was fabricated. The effects of membrane characteristics (porosity and effective thickness), temperature, and initial concentration were experimentally studied. A simplified mathematical model was developed, which provides the basis to desire the membrane parameters based on tile experimental measurements.展开更多
To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the di...To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the dimension of high-rise buildings,and was compared with other widely used reduction methods by using a framework with ten floors. This optimized method has improvement of reduction process and choice of the order. Based on the reduced-order model obtained by the improved method and pole-assignment algorithm,a controller was designed. Finally,a comparative analysis of structural responses,transfer functions,and poles was conducted on an actual high-rise building. The results show the effectiveness of the improved method.展开更多
Active multiple tuned mass dampers （referred to as AMTMD）, which consist of several active tuned mass dampers （ATMDs） with identical stiffness and damping coefficients but varying mass and control force, have rece...Active multiple tuned mass dampers （referred to as AMTMD）, which consist of several active tuned mass dampers （ATMDs） with identical stiffness and damping coefficients but varying mass and control force, have recently been proposed to suppress undesirable oscillations of structures under ground acceleration. It has been shown that the AMTMD can remarkably improve the performance of multiple tuned mass dampers （MTMDs） and is also more effective in reducing structure oscillation than single ATMDs. Notwithstanding this, good performance of AMTMD （including a single ATMD illustrated from frequency-domain analysis） may not necessarily translate into a good seismic reduction behavior in the time-domain. To investigate these phenomena, a three-story steel structure model controlled by AMTMD with three ATMDs was implemented in SIMULINK and subjected to several historical earthquakes. Likewise, the structure under consideration was assumed to have uncertainty of stiffness, such as 4-15% of its initial stiffness, in the numerical simulations. The optimum design parameters of the AMTMD were obtained in the frequency-domain by implementing the minimization of the minimum values of the maximum dynamic magnification factors （DMF） of general structures with AMTMD. For comparison purposes, response analysis of the same structure with a single ATMD was also performed. The numerical analysis and comparison show that the AMTMD generally renders better effectiveness when compared with a single ATMD for structures subjected to historical earthquakes. In particular, the AMTMD can improve the effectiveness of a single ATMD for a structure with an uncertainty of stiffness of 4-15% of its initial stiffness.展开更多
This paper investigates the application of active mass dampers to mitigate the vibrations of building structures subjected to unknown external excitations under controller saturation conditions. By utilizing an H<s...This paper investigates the application of active mass dampers to mitigate the vibrations of building structures subjected to unknown external excitations under controller saturation conditions. By utilizing an H<sub>∞</sub> control strategy, the optimal state feedback controller is derived by solving the linear matrix inequality problem for controller saturation. Case studies show that the proposed controller is capable of stabilizing the closed-loop system with good control performance and effectively suppressing vibrations in building structures under unknown external excitation. When compared to controllers that do not consider saturation, the proposed controller requires lower gain and results in reduced energy consumption. The research findings provide valuable insights for addressing real-world building structure control problems, contributing to both theoretical significance and practical applications.展开更多
Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in...Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in thickness. The Pt-Pd octahedral nanoframes were obtained through site-selected deposition of Pt atoms onto the edge sites of Pd octahedral seeds, followed by selective removal of the Pd octahedral cores via chemical etching. Due to that a combination of three-dimensional opens geometrical structure and Pt-skin surface compositional structure, the Pt-Pd octahedral nanoframes/C catalyst shows a mass activity of 1.15 A/mgPt towards oxygen reduction reaction, 5.8 times enhancement in mass activity relative to commercial Pt/C catalyst （0.20 A/mgPt）. Moreover, even after 8000 cycles of accelerated durability test, the Pt-Pd octahedral nanoframes/C catalyst still exhibits a mass activity which is more than three times higher than that of pristine Pt/C catalyst.展开更多
To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows th...To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, load uncertainties and external disturbances are the main issues that should be solved in engineering. Under the assumptions that the loads and external disturbance are measurable, the backstepping module controller developed in this work can tackle the above problems effectively. In reality, the load is uncertain due to the additions of luggage and passengers, which will degrade the dynamic performance. A load estimation algorithm is introduced to track the actual load asymptotically and eliminate its influence by tuning the parameters of controller online. Furthermore,considering the external disturbances generated by crosswind, pulling motor and air springs, the extended state observer is employed to estimate and suppress the external disturbance. Finally, results of numerical simulations illustrating closed-loop performance are provided.展开更多
In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-...In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant 52205075in part by the Zhejiang Provincial Natural Science Foundation of China,under Grant LZ24E050008National Undergraduate Training Program on Innovation and Entrepreneurship,under Grant 202410345040.
文摘A mass on-line control type impact inertial piezoelectric actuator with a bionic wheat structure is proposed in this work.Inspired by the anisotropic friction mechanism of natural wheat awns,a bioinspired mechanism is used to achieve the designed driving strategy based on the asymmetric-mass control method that mimics bidirectional motion characteristics of wheat awn.A lumped parameter theoretical model is established,and the numerical simulation results have verified the designed bionic working principle and revealed the key system parameters.Experimental results show that the prototype has the bi-directional motion ability inherited from anisotropic friction of wheat awn,with theoretically infinite stroke and can easily obtain the required step displacement and velocity by conveniently adjusting the voltage.It can achieve a resolution of 0.7μm,and a forward and backward maximum velocity of 12.7μm/s and 90.72μm/s respectively.In addition,the actuator also has the advantages of good stability,control convenience,and ease of integration.Besides,the actuator is capable of adjusting motion direction via voltage,providing a significant advantage in precise bidirectional control.This study confirms that the proposed mass on-line control type actuator embodies a successful bionic translation from plant morphology to precision engineering,and adds a new member to the family of impact inertial piezoelectric actuators,which completes the last piece of the puzzle for the impact inertial driving mechanism.It promotes the further development of inertial precision driving and control technology and is expected to expand the scope of application.Future work will focus on optimizing performance and developing applications.
文摘The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.
基金supported by the Major State Basic Research Development Program of China (973 Program) (No. 2013CB430001)the Natural Science Foundation of China (No. 21077065)
文摘The iron and steel production process is one of the predominant anthropogenic sources of atmospheric mercury emissions worldwide. In this study, field tests were conducted to study mercury emission characteristics and mass flows at two iron and steel plants in China. It was found that low-sulfur flue gas from sintering machines could contribute up to41% of the total atmospheric mercury emissions, and desulfurization devices could remarkably help reduce the emissions. Coal gas burning accounted for 17%–49% of the total mercury emissions, and therefore the mercury control of coal gas burning, specifically for the power plant burning coal gas to generate electricity, was significantly important. The emissions from limestone and dolomite production and electric furnaces can contribute29.3% and 4.2% of the total mercury emissions from iron and steel production. More attention should be paid to mercury emissions from these two processes. Blast furnace dust accounted for 27%–36% of the total mercury output for the whole iron and steel production process. The recycling of blast furnace dust could greatly increase the atmospheric mercury emissions and should not be conducted. The mercury emission factors for the coke oven,sintering machine and blast furnace were 0.039–0.047 g Hg/ton steel, and for the electric furnace it was 0.021 g Hg/ton steel. The predominant emission species was oxidized mercury, accounting for 59%–73% of total mercury emissions to air.
基金The National Natural Science Foundation of China Under Grant. No.50608026The National Major Foundamental Program (973 Program) of China Under Grant No. 2007CB714204
文摘The electromagnetic mass damper （EMD） control system, as an innovative active control system to reduce structural vibration, offers many advantages over traditional active mass driver/damper （AMD） control systems. In this paper, studies of several EMD control strategies and bench-scale shaking table tests of a two-story model structure are described. First, two structural models corresponding to uncontrolled and Zeroed cases are developed, and parameters of these models are validated through sinusoidal sweep tests to provide a basis for establishing an accurate mathematical model for further studies. Then, a simplified control strategy for the EMD system based on the pole assignment control algorithm is proposed. Moreover, ideal pole locations are derived and validated through a series of shaking table tests. Finally, three benchmark earthquake ground motions and sinusoidal sweep waves are imposed onto the structure to investigate the effectiveness and feasibility of using this type of innovative active control system for structural vibration control. In addition, the robustness of the EMD system is examined. The test results show that the EMD system is an effective and robust system for the control of structural vibrations.
文摘Zero mass flux jets, synthesized by acoustic actuators, have been used for the purpose of jet mixing enhancement and jet vectoring. Zero mass flux jets composed of entirely entrained fluid allow momentum transfer into the embedding flow. In the present experiments, miniature scale high aspect ratio actuator jets are placed along the long sides and near the exit plane of a primary two dimensional jet. In different modes, the primary jet can be vectored either towards or away from the actuator jets and the jet mixing is enhanced. The disturbance of the excitation frequency is developed while the unstable frequency of the primary jet is completely suppressed.
文摘Controlled blasting techniques are used to control overbreak and to aid in the stability of the remaining rock formation. Presplitting is one of the most common methods which is used in many open pit mining and surface blast design. The purpose of presplitting is to form a fracture plane across which the radial cracks from the production blast cannot travel. The purpose of this study is to investigate of effect of presplitting on the generation of a smooth wall in continuum and jointed rock mass. The 2D distinct element code was used to simulate the presplitting in a rock slope. The blast load history as a function of time was applied to the inner wall of each blasthole. Important parameters that were considered in the analysis were stress tensor and fracturing pattern. The blast loading magnitude and blasthole spacing and jointing pattern were found to be very significant in the final results.
基金Supported by the National Natural Science Foundation of China(11202023)
文摘An attitude controller using the second order sliding mode control methodology with a backstepping approach（SOSMCB）is designed and implemented for a spinning missile with two internal moving mass blocks.The system consists of a rigid body and two radial internal moving mass blocks and its mathematical model is established based on Newtonian mechanics.The control scheme integrates a second order sliding mode control algorithm into the last step of the backstepping approach,and its stability is proved by means of a Lyapunov function.The performance of the controller is demonstrated by numerical simulations,the results show that the attitude controller is stable and effective.
文摘Cryopreservation of cells and tissues (natural or engineered) usually involves complicated protocols for addition and later removal of cryoprotecting agents to avoid osmotic shock and toxicity to cells. The rate of CPA addition and removal is essential to cell survival. In this study, the feasibility of using porous membrane to control the rate of CPA transfer to cell environment is studied, A purpose designed diffusion chamber was fabricated. The effects of membrane characteristics (porosity and effective thickness), temperature, and initial concentration were experimentally studied. A simplified mathematical model was developed, which provides the basis to desire the membrane parameters based on tile experimental measurements.
文摘To improve the performance of an active mass damper control system,the controller should be designed based on a reduced-order model. An improved method based on balanced truncation method was proposed to reduce the dimension of high-rise buildings,and was compared with other widely used reduction methods by using a framework with ten floors. This optimized method has improvement of reduction process and choice of the order. Based on the reduced-order model obtained by the improved method and pole-assignment algorithm,a controller was designed. Finally,a comparative analysis of structural responses,transfer functions,and poles was conducted on an actual high-rise building. The results show the effectiveness of the improved method.
文摘Active multiple tuned mass dampers （referred to as AMTMD）, which consist of several active tuned mass dampers （ATMDs） with identical stiffness and damping coefficients but varying mass and control force, have recently been proposed to suppress undesirable oscillations of structures under ground acceleration. It has been shown that the AMTMD can remarkably improve the performance of multiple tuned mass dampers （MTMDs） and is also more effective in reducing structure oscillation than single ATMDs. Notwithstanding this, good performance of AMTMD （including a single ATMD illustrated from frequency-domain analysis） may not necessarily translate into a good seismic reduction behavior in the time-domain. To investigate these phenomena, a three-story steel structure model controlled by AMTMD with three ATMDs was implemented in SIMULINK and subjected to several historical earthquakes. Likewise, the structure under consideration was assumed to have uncertainty of stiffness, such as 4-15% of its initial stiffness, in the numerical simulations. The optimum design parameters of the AMTMD were obtained in the frequency-domain by implementing the minimization of the minimum values of the maximum dynamic magnification factors （DMF） of general structures with AMTMD. For comparison purposes, response analysis of the same structure with a single ATMD was also performed. The numerical analysis and comparison show that the AMTMD generally renders better effectiveness when compared with a single ATMD for structures subjected to historical earthquakes. In particular, the AMTMD can improve the effectiveness of a single ATMD for a structure with an uncertainty of stiffness of 4-15% of its initial stiffness.
文摘This paper investigates the application of active mass dampers to mitigate the vibrations of building structures subjected to unknown external excitations under controller saturation conditions. By utilizing an H<sub>∞</sub> control strategy, the optimal state feedback controller is derived by solving the linear matrix inequality problem for controller saturation. Case studies show that the proposed controller is capable of stabilizing the closed-loop system with good control performance and effectively suppressing vibrations in building structures under unknown external excitation. When compared to controllers that do not consider saturation, the proposed controller requires lower gain and results in reduced energy consumption. The research findings provide valuable insights for addressing real-world building structure control problems, contributing to both theoretical significance and practical applications.
基金This work is supported by Collaborative Innovation Center of Suzhou Nano Science and Technology, Ministry of Science and Technology of China （No.2014CB932700）, the National Natural Science Foundation of China （No.21603208, No.21573206, and No.51371164）, the China Postdoctoral Science Foundation （No.2015M580536, No.2016T90569）, Key Research Program of Frontier Sciences, CAS （QYZDBSSW- SLH017）, Strategic Priority Research Program B of the CAS （No.XDB01020000）, Hefei Science Center, CAS （No.2015HSC-UP016）, and Fundamental Research Funds for the Central Universities.
文摘Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in thickness. The Pt-Pd octahedral nanoframes were obtained through site-selected deposition of Pt atoms onto the edge sites of Pd octahedral seeds, followed by selective removal of the Pd octahedral cores via chemical etching. Due to that a combination of three-dimensional opens geometrical structure and Pt-skin surface compositional structure, the Pt-Pd octahedral nanoframes/C catalyst shows a mass activity of 1.15 A/mgPt towards oxygen reduction reaction, 5.8 times enhancement in mass activity relative to commercial Pt/C catalyst （0.20 A/mgPt）. Moreover, even after 8000 cycles of accelerated durability test, the Pt-Pd octahedral nanoframes/C catalyst still exhibits a mass activity which is more than three times higher than that of pristine Pt/C catalyst.
基金Projects(60404003,11202230)supported by the National Natural Science Foundation of China
文摘To explore the precise dynamic response of the levitation system with active controller, a maglev guide way-electromagnet-air spring-cabin coupled model is derived firstly. Based on the mathematical model, it shows that the inherent nonlinearity, inner coupling, misalignments between the sensors and actuators, load uncertainties and external disturbances are the main issues that should be solved in engineering. Under the assumptions that the loads and external disturbance are measurable, the backstepping module controller developed in this work can tackle the above problems effectively. In reality, the load is uncertain due to the additions of luggage and passengers, which will degrade the dynamic performance. A load estimation algorithm is introduced to track the actual load asymptotically and eliminate its influence by tuning the parameters of controller online. Furthermore,considering the external disturbances generated by crosswind, pulling motor and air springs, the extended state observer is employed to estimate and suppress the external disturbance. Finally, results of numerical simulations illustrating closed-loop performance are provided.
基金supported by the National Natural Science Foundation of China(61921004,61520106009,U1713209,61973074)the Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions
文摘In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.
