In this paper we investigated the effect of the first order responses of mooring line on the second order mooring line damping.In the study of the slow oscillating of a moored floating structure by perturbation method...In this paper we investigated the effect of the first order responses of mooring line on the second order mooring line damping.In the study of the slow oscillating of a moored floating structure by perturbation method in frequency domain,the second order equations of the mooring line are divided into non homogeneous and homogeneous equations.The solutions are related to the first order responses of mooring line and second order floating structure oscillation respectively.In order to find the effect of the first order responses of mooring line,the second order mooring line tension and damping were determined by solving the non homogeneous equation and homogeneous equation.From the results,we found,although the second order mooring line tension obtained from the non homogenous equation is quite small compared with the total second order mooring line tension,the damping contributed from both of them are in the same order in quantity.So,in predicting the second order mooring line damping,the effect of the solution related to the non homogeneous equation can not be omitted.展开更多
Higher-order band topology not only enriches our understanding of topological phases but also unveils pioneering lower-dimensional boundary states,which harbors substantial potential for next-generation device applica...Higher-order band topology not only enriches our understanding of topological phases but also unveils pioneering lower-dimensional boundary states,which harbors substantial potential for next-generation device applications.The distinct electronic configurations and tunable attributes of two-dimensional materials position them as a quintessential platform for the realization of second-order topological insulators(SOTIs).This article provides an overview of the research progress in SOTIs within the field of two-dimensional electronic materials,focusing on the characterization of higher-order topological properties and the numerous candidate materials proposed in theoretical studies.These endeavors not only enhance our understanding of higher-order topological states but also highlight potential material systems that could be experimentally realized.展开更多
In this paper,the oscillation criteria for the solutions of the nonlinear differential equations of neutral type of the forms:[x(t)+p(t)x(σ(t))]″+q(t)f(x(τ(t)))g(x′(t))=0and[x(t)+p(t)x(σ(t))]″+q(t)f(x(t),x(τ(t)...In this paper,the oscillation criteria for the solutions of the nonlinear differential equations of neutral type of the forms:[x(t)+p(t)x(σ(t))]″+q(t)f(x(τ(t)))g(x′(t))=0and[x(t)+p(t)x(σ(t))]″+q(t)f(x(t),x(τ(t)))g(x′(t))=0are obtained.展开更多
On the basis of ZINDO method and according to the sum over states(SOS) expression, the program is devised for the calculation of nonlinear second order optical susceptibilites β ijk and studying how ...On the basis of ZINDO method and according to the sum over states(SOS) expression, the program is devised for the calculation of nonlinear second order optical susceptibilites β ijk and studying how different substituents on the phenyl ring attached to the atom silicon influence on the nonlinear second order optical properties of substituted silane series of molecules. The properties of (CH 3) 3Si? ?has been studied particularly. The effect of the length of silica chains on the calculated values has been studied too. The regularity summarized from the calculated results has been explained micromechanically.展开更多
The second order effect is the interaction between the vertical load and the deformation in a vertically forced element. In order to deduce a more brief but practical method, which has considered the second order effe...The second order effect is the interaction between the vertical load and the deformation in a vertically forced element. In order to deduce a more brief but practical method, which has considered the second order effect in a sway frame, some factors which affect the second order deformation in a sway frame should be generalized based on a more accurate method. Nonlinear finite element is adopted in this paper, and according to this theory, a program, which can calculate the inner force and the deformation of the sway frame considering the second order effects is coded.展开更多
The topic on the subspaces for the polynomially or exponentially bounded weak mild solutions of the following abstract Cauchy problem d^2/（dr^2）u（t,x）=Au（t,x）;u（0,x）=x,d/（dt）u（0,x）=0,x∈X is studied, wher...The topic on the subspaces for the polynomially or exponentially bounded weak mild solutions of the following abstract Cauchy problem d^2/（dr^2）u（t,x）=Au（t,x）;u（0,x）=x,d/（dt）u（0,x）=0,x∈X is studied, where A is a closed operator on Banach space X. The case that the problem is ill-posed is treated, and two subspaces Y（A, k） and H（A, ω） are introduced. Y（A, k） is the set of all x in X for which the second order abstract differential equation has a weak mild solution v（ t, x） such that ess sup{（1＋t）^-k｜d/（dt）〈v（t,x）,x^＊〉｜：t≥0,x^＊∈X^＊,｜x^＊‖≤1}〈＋∞. H（A, ω） is the set of all x in X for which the second order abstract differential equation has a weak mild solution v（t,x）such that ess sup{e^-ωl｜d/（dt）〈v（t,x）,x^＊）｜：t≥0,x^＊∈X^＊,‖x^＊‖≤1}〈＋∞. The following conclusions are proved that Y（A, k） and H（A, ω） are Banach spaces, and both are continuously embedded in X; the restriction operator A ｜ Y（A,k） generates a once-integrated cosine operator family { C（t） }t≥0 such that limh→0＋^-1/h‖C（t＋h）-C（t）‖Y（A,k）≤M（1＋t）^k,arbitary t≥0; the restriction operator A ｜H（A,ω） generates a once- integrated cosine operator family {C（t）}t≥0 such that limh→0＋^-1/h‖C（t＋h）-C（t）‖H（A,ω）≤≤Me^ωt,arbitary t≥0.展开更多
By applying the second order Melnikov function, the chaos behaviors of a bistable piezoelectric cantilever power generation system are analyzed. Firstly, the conditions for emerging chaos of the system are derived by ...By applying the second order Melnikov function, the chaos behaviors of a bistable piezoelectric cantilever power generation system are analyzed. Firstly, the conditions for emerging chaos of the system are derived by the second order Melnikov function. Secondly, the effects of each item in chaos threshold expression are analyzed. The excitation frequency and resistance values, which have the most influence on chaos threshold value, are found. The result from the second order Melnikov function is more accurate compared with that from the first order Melnikov function. Finally, the attraction basins of large amplitude motions under different exciting frequency, exciting amplitude, and resistance parameters are given.展开更多
Suffcient conditions for the existence of at least one solution of two-point boundary value problems for second order nonlinear differential equations [φ(x(t))] + kx(t) + g(t,x(t)) = p(t),t ∈(0,π) x(0) = x(π) = 0 ...Suffcient conditions for the existence of at least one solution of two-point boundary value problems for second order nonlinear differential equations [φ(x(t))] + kx(t) + g(t,x(t)) = p(t),t ∈(0,π) x(0) = x(π) = 0 are established,where [φ(x)] =(|x |p-2x) with p > 1.Our result is new even when [φ(x)] = x in above problem,i.e.p = 2.Examples are presented to illustrate the effciency of the theorem in this paper.展开更多
In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilize...In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilized to a region containing the origin. The radius of this region is determined by the control parameters and can be rendered as small as desired. The rigorous stability analysis is also given. Compared with the conventional PD control law, the finite-time control law yields a better disturbance rejection performance. Numerical simulation results show the effectiveness of the method.展开更多
Adaptive broadband beamforraing is a key issue in array applications. The adaptive broadband beamformer with tapped delay line （TDL） structure for nonuniform linear array （NLA） is designed according to the rule of...Adaptive broadband beamforraing is a key issue in array applications. The adaptive broadband beamformer with tapped delay line （TDL） structure for nonuniform linear array （NLA） is designed according to the rule of minimizing the beamformer＇s output power while keeping the distortionless response （DR） in the direction of desired signal and keeping the constant beamwidth （CB） with the prescribed sidelobe level over the whole operating band. This kind of beamforming problem can be solved with the interior-point method after being converted to the form of standard second order cone programming （SOCP）. The computer simulations are presented which illustrate the effectiveness of our beamformer.展开更多
This article is concerned with the oscillation of the forced second order differ- ential equation with mixed nonlinearities（a（t）（x＇（t））γ）＇＋po（t）xγ（go（t））＋n∑t=1pi（t）｜x（gi（t））｜αi sgn x（gi...This article is concerned with the oscillation of the forced second order differ- ential equation with mixed nonlinearities（a（t）（x＇（t））γ）＇＋po（t）xγ（go（t））＋n∑t=1pi（t）｜x（gi（t））｜αi sgn x（gi（t））=e（t）,where γ is a quotient of odd positive integers αi〉0,i=1,2 ……n,a,e,and pi ∈ C（[0,∞）R）,a（t）〉0,gi：R→R are positive continuous functions on R with lim gi （t）=∞,i=0,1,……,n. Our results generalize and improve the results in a recent article by Sun and Wong[29].展开更多
Target tracking control for wheeled mobile robot(WMR)need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system...Target tracking control for wheeled mobile robot(WMR)need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.展开更多
A new criterion is established for the oscillation of second order superlinear ordinary differential equations of the formx″(t) + p(t)x′(t) + q(t)｜x(t)｜αsgnx(t) = 0, t ≥ t0,where α>1,p and q are continuous f...A new criterion is established for the oscillation of second order superlinear ordinary differential equations of the formx″(t) + p(t)x′(t) + q(t)｜x(t)｜αsgnx(t) = 0, t ≥ t0,where α>1,p and q are continuous functions on[t0,∞). This criterion extends and unifies some of the results obtained in [1]- [5].展开更多
This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different ...This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle. Finally, some simple simulations are presented to illustrate the technique.展开更多
In this paper we introduce the class of Hermite's matrix polynomials which appear as finite series solutions of second order matrix differential equations Y'-xAY'+BY=0.An explicit expression for the Hermit...In this paper we introduce the class of Hermite's matrix polynomials which appear as finite series solutions of second order matrix differential equations Y'-xAY'+BY=0.An explicit expression for the Hermite matrix polynomials,the orthogonality property and a Rodrigues' formula are given.展开更多
The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parame...The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parametric variations. Among the most evoked control strategies adopted in this field to overcome these drawbacks presented in classical drive, it is worth mentioning the use of the second order sliding mode control(SOSMC) based on the super twisting algorithm(STA) combined with the fuzzy logic control(FSOSMC). In order to realize the optimal control performance, the FSOSMC parameters are adjusted using an optimization algorithm based on the genetic algorithm(GA). The performances of the envisaged control scheme, called G-FSOSMC, are investigated against G-SOSMC, G-PI and BBO-FSOSMC algorithms. The proposed controller scheme is efficient in reducing the torque and flux ripples, and successfully suppresses chattering. The effects of parametric uncertainties do not affect system performance.展开更多
Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-...Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.展开更多
In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to for...In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.展开更多
文摘In this paper we investigated the effect of the first order responses of mooring line on the second order mooring line damping.In the study of the slow oscillating of a moored floating structure by perturbation method in frequency domain,the second order equations of the mooring line are divided into non homogeneous and homogeneous equations.The solutions are related to the first order responses of mooring line and second order floating structure oscillation respectively.In order to find the effect of the first order responses of mooring line,the second order mooring line tension and damping were determined by solving the non homogeneous equation and homogeneous equation.From the results,we found,although the second order mooring line tension obtained from the non homogenous equation is quite small compared with the total second order mooring line tension,the damping contributed from both of them are in the same order in quantity.So,in predicting the second order mooring line damping,the effect of the solution related to the non homogeneous equation can not be omitted.
基金supported by the National Natu-ral Science Foundation of China(Grants No.12174220 and No.12074217)the Shandong Provincial Science Foundation for Excellent Young Scholars(Grant No.ZR2023YQ001)+1 种基金the Taishan Young Scholar Program of Shandong Provincethe Qilu Young Scholar Pro-gram of Shandong University.
文摘Higher-order band topology not only enriches our understanding of topological phases but also unveils pioneering lower-dimensional boundary states,which harbors substantial potential for next-generation device applications.The distinct electronic configurations and tunable attributes of two-dimensional materials position them as a quintessential platform for the realization of second-order topological insulators(SOTIs).This article provides an overview of the research progress in SOTIs within the field of two-dimensional electronic materials,focusing on the characterization of higher-order topological properties and the numerous candidate materials proposed in theoretical studies.These endeavors not only enhance our understanding of higher-order topological states but also highlight potential material systems that could be experimentally realized.
文摘In this paper,the oscillation criteria for the solutions of the nonlinear differential equations of neutral type of the forms:[x(t)+p(t)x(σ(t))]″+q(t)f(x(τ(t)))g(x′(t))=0and[x(t)+p(t)x(σ(t))]″+q(t)f(x(t),x(τ(t)))g(x′(t))=0are obtained.
文摘On the basis of ZINDO method and according to the sum over states(SOS) expression, the program is devised for the calculation of nonlinear second order optical susceptibilites β ijk and studying how different substituents on the phenyl ring attached to the atom silicon influence on the nonlinear second order optical properties of substituted silane series of molecules. The properties of (CH 3) 3Si? ?has been studied particularly. The effect of the length of silica chains on the calculated values has been studied too. The regularity summarized from the calculated results has been explained micromechanically.
文摘The second order effect is the interaction between the vertical load and the deformation in a vertically forced element. In order to deduce a more brief but practical method, which has considered the second order effect in a sway frame, some factors which affect the second order deformation in a sway frame should be generalized based on a more accurate method. Nonlinear finite element is adopted in this paper, and according to this theory, a program, which can calculate the inner force and the deformation of the sway frame considering the second order effects is coded.
基金The Natural Science Foundation of Department ofEducation of Jiangsu Province (No06KJD110087)
文摘The topic on the subspaces for the polynomially or exponentially bounded weak mild solutions of the following abstract Cauchy problem d^2/（dr^2）u（t,x）=Au（t,x）;u（0,x）=x,d/（dt）u（0,x）=0,x∈X is studied, where A is a closed operator on Banach space X. The case that the problem is ill-posed is treated, and two subspaces Y（A, k） and H（A, ω） are introduced. Y（A, k） is the set of all x in X for which the second order abstract differential equation has a weak mild solution v（ t, x） such that ess sup{（1＋t）^-k｜d/（dt）〈v（t,x）,x^＊〉｜：t≥0,x^＊∈X^＊,｜x^＊‖≤1}〈＋∞. H（A, ω） is the set of all x in X for which the second order abstract differential equation has a weak mild solution v（t,x）such that ess sup{e^-ωl｜d/（dt）〈v（t,x）,x^＊）｜：t≥0,x^＊∈X^＊,‖x^＊‖≤1}〈＋∞. The following conclusions are proved that Y（A, k） and H（A, ω） are Banach spaces, and both are continuously embedded in X; the restriction operator A ｜ Y（A,k） generates a once-integrated cosine operator family { C（t） }t≥0 such that limh→0＋^-1/h‖C（t＋h）-C（t）‖Y（A,k）≤M（1＋t）^k,arbitary t≥0; the restriction operator A ｜H（A,ω） generates a once- integrated cosine operator family {C（t）}t≥0 such that limh→0＋^-1/h‖C（t＋h）-C（t）‖H（A,ω）≤≤Me^ωt,arbitary t≥0.
基金supported by the National Natural Science Foundation of China (Grant 11172199)
文摘By applying the second order Melnikov function, the chaos behaviors of a bistable piezoelectric cantilever power generation system are analyzed. Firstly, the conditions for emerging chaos of the system are derived by the second order Melnikov function. Secondly, the effects of each item in chaos threshold expression are analyzed. The excitation frequency and resistance values, which have the most influence on chaos threshold value, are found. The result from the second order Melnikov function is more accurate compared with that from the first order Melnikov function. Finally, the attraction basins of large amplitude motions under different exciting frequency, exciting amplitude, and resistance parameters are given.
基金Supported by the Natural Science Foundation of Hunan Province（06JJ50008） Supported by the Natural Science Foundation of Guangdong Province（7004569）
文摘Suffcient conditions for the existence of at least one solution of two-point boundary value problems for second order nonlinear differential equations [φ(x(t))] + kx(t) + g(t,x(t)) = p(t),t ∈(0,π) x(0) = x(π) = 0 are established,where [φ(x)] =(|x |p-2x) with p > 1.Our result is new even when [φ(x)] = x in above problem,i.e.p = 2.Examples are presented to illustrate the effciency of the theorem in this paper.
基金supported by National Natural Science Foundation of China (No.60504007)the PhD Programs Foundation of Ministry of Educationof China (No.20070286040)the Scientific Research Foundation of Graduate School of Southeast University
文摘In this paper, using finite-time control method, we consider the disturbance analysis of a second-order system with unknown but bounded disturbance. We show that the states of the second-order system will be stabilized to a region containing the origin. The radius of this region is determined by the control parameters and can be rendered as small as desired. The rigorous stability analysis is also given. Compared with the conventional PD control law, the finite-time control law yields a better disturbance rejection performance. Numerical simulation results show the effectiveness of the method.
基金supported by the National Nature Science Foundation of China (60472101)President Award of ChineseAcademy of Sciences(O729031511).
文摘Adaptive broadband beamforraing is a key issue in array applications. The adaptive broadband beamformer with tapped delay line （TDL） structure for nonuniform linear array （NLA） is designed according to the rule of minimizing the beamformer＇s output power while keeping the distortionless response （DR） in the direction of desired signal and keeping the constant beamwidth （CB） with the prescribed sidelobe level over the whole operating band. This kind of beamforming problem can be solved with the interior-point method after being converted to the form of standard second order cone programming （SOCP）. The computer simulations are presented which illustrate the effectiveness of our beamformer.
文摘This article is concerned with the oscillation of the forced second order differ- ential equation with mixed nonlinearities（a（t）（x＇（t））γ）＇＋po（t）xγ（go（t））＋n∑t=1pi（t）｜x（gi（t））｜αi sgn x（gi（t））=e（t）,where γ is a quotient of odd positive integers αi〉0,i=1,2 ……n,a,e,and pi ∈ C（[0,∞）R）,a（t）〉0,gi：R→R are positive continuous functions on R with lim gi （t）=∞,i=0,1,……,n. Our results generalize and improve the results in a recent article by Sun and Wong[29].
基金supported by National Natural Science Foundation of China(Grant No.61075081)State Key Laboratory of Robotics Technique and System Foundation,Harbin Institute of Technology,China(Grant No.SKIRS200802A02)
文摘Target tracking control for wheeled mobile robot(WMR)need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.
文摘A new criterion is established for the oscillation of second order superlinear ordinary differential equations of the formx″(t) + p(t)x′(t) + q(t)｜x(t)｜αsgnx(t) = 0, t ≥ t0,where α>1,p and q are continuous functions on[t0,∞). This criterion extends and unifies some of the results obtained in [1]- [5].
基金Project supported by the National Natural Science Foundation of China (Grant No. 70571059)
文摘This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents. Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle. Finally, some simple simulations are presented to illustrate the technique.
文摘In this paper we introduce the class of Hermite's matrix polynomials which appear as finite series solutions of second order matrix differential equations Y'-xAY'+BY=0.An explicit expression for the Hermite matrix polynomials,the orthogonality property and a Rodrigues' formula are given.
基金Project supported by the LEB Research LaboratoryDepartment of Electrical Engineering,University of Batna 2, Algeria。
文摘The direct torque control of the dual star induction motor(DTC-DSIM) using conventional PI controllers is characterized by unsatisfactory performance, such as high ripples of torque and flux, and sensitivity to parametric variations. Among the most evoked control strategies adopted in this field to overcome these drawbacks presented in classical drive, it is worth mentioning the use of the second order sliding mode control(SOSMC) based on the super twisting algorithm(STA) combined with the fuzzy logic control(FSOSMC). In order to realize the optimal control performance, the FSOSMC parameters are adjusted using an optimization algorithm based on the genetic algorithm(GA). The performances of the envisaged control scheme, called G-FSOSMC, are investigated against G-SOSMC, G-PI and BBO-FSOSMC algorithms. The proposed controller scheme is efficient in reducing the torque and flux ripples, and successfully suppresses chattering. The effects of parametric uncertainties do not affect system performance.
基金supported by the Fundamental Research Funds for the Central Universities(JUSRP11020)the Specialized Research Fund for the Doctoral Program of Higher Education of China(20090093120006)
文摘Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.
基金co-supported by the National Natural Science Foundation of China (Nos. 61333011, 91216304 and 61121003)
文摘In this paper, formation tracking control problems for second-order multi-agent systems（MASs） with time-varying delays are studied, specifically those where the position and velocity of followers are designed to form a time-varying formation while tracking those of the leader. A neighboring relative state information based formation tracking protocol with an unknown gain matrix and time-varying delays is presented. The formation tracking problems are then transformed into asymptotically stable problems. Based on the Lyapunov-Krasovskii functional approach, conditions sufficient for second-order MASs with time-varying delays to realize formation tracking are examined. An approach to obtain the unknown gain matrix is given and, since neighboring relative velocity information is difficult to measure in practical applications, a formation tracking protocol with time-varying delays using only neighboring relative position information is introduced. The proposed results can be used on target enclosing problems for MASs with second-order dynamics and time-varying delays. An application for target enclosing by multiple unmanned aerial vehicles（UAVs） is given to demonstrate the feasibility of theoretical results.
