弱选择下局部更新过程的固定时间

双策略2×2对称博弈有限总体的进化动态本质上是一个随机过程.在双策略系统中,如果A策略者占优B策略者,则A策略会在总体中得到扩散,在随机动态下,最终达到总体内全是A策略者或全是B策略者的同源状态.研究在弱选择下的局部更新过程中,总体达到同源状态时的固定时间.结果表明,在弱选择下,A、B两个策略的条件固定时间相等,且仅依赖于两个策略收益差的线性部分,而平均固定时间仅依赖于两个策略收益差的常数部分.最后通过图形表明了固定时间与系统总体数、博弈收益及选择强度间的关系.     

离散时间单部件可修系统瞬时可用度的渐近稳定性

针对离散时间下修理有延迟的单部件可修系统,研究了有限时间约束下的系统瞬时可用度模型.证明了该系统瞬时可用度的渐近稳定性,并得到了系统稳态可用度的表达式.结果表明系统瞬时可用度的稳定性对离散时间系统和连续时间系统具有一致性,进一步说明了离散时间下瞬时可用度模型的有效性,同时也加强了研究有限时间段内系统瞬时可用度波动的理论基础.     

基于自适应模糊控制方法的四翼混沌系统有限时间同步

研究了一类带有未知外部摄动的四翼混沌主从系统的有限时间同步控制问题.首先,基于自适应模糊控制方法,对四翼混沌系统的不确定项进行了处理.其次,基于Lyapunov有限时间稳定性准则,设计了一种有限时间同步控制器,使得主系统与从系统能在有限时间内实现状态同步.最后,通过数值仿真,检验了该方法的有效性和鲁棒性.     

对流扩散方程的时间间断时空有限体积元法

将时间间断的时空元思想与基于等距节点下三次Lagrange插值的超收敛有限体积元方法相结合,以三次Lagrange插值导数超收敛点为对偶剖分节点,引入插值投影算子,建立对流扩散方程的时间间断时空有限体积元格式.结合有限体积元分析与以Radau积分点为节点的Lagrange插值,证明了近似解的最优L∞(L2)-模误差估计...     

多行程带时间窗口的车辆调度问题研究

为了提高车辆的使用率,企业往往会安排车辆在单位周期内,执行多次配送任务.为了研究多行程带时间窗口的车辆配送(VRPTW)中的车辆调度问题.模型以车辆的固定费用、车辆行驶过程中的等待费用、司机的工作小时费最小为目标,同时也融合了司机在执行不同路线时,由于熟悉的过程所弓I起的费用.通过对路线的时间窗口性质的分析,建立了调度问题的模型.     

基于有限时间姿态控制算法的四旋翼飞行器悬停控制

基于反步设计方法和有限时间控制技术,文章设计了四旋翼飞行器的控制系统,以实现定点悬停控制.首先,针对四旋翼飞行器位置控制系统,将姿态当成虚拟控制输入信号,设计了基于PD的位置控制器.然后,针对姿态控制系统,基于有限时间控制技术,设计姿态控制力矩使得飞行器姿态可以在有限时间内达到期望的姿态.最后,仿真结果验证了文章所提出控制器的有效性.     

多行程带时间窗口的车辆调度问题研究北大核心

为了提高车辆的使用率,企业往往会安排车辆在单位周期内,执行多次配送任务.为了研究多行程带时间窗口的车辆配送(VRPTW)中的车辆调度问题.模型以车辆的固定费用、车辆行驶过程中的等待费用、司机的工作小时费最小为目标,同时也融合了司机在执行不同路线时,由于熟悉的过程所弓I起的费用.通过对路线的时间窗口性质的分析,建立了调度问题的模型.     

牵制控制含噪声的多延迟超网络的结构识别

本文研究了含噪声的多延迟超网络的结构识别问题,利用随机微分时滞方程的LaSalle不变原理和Lyapunov稳定性理论,获得了通过牵制控制进行超网络结构辨识的理论.通过数值仿真验证了理论结果的有效性.以三层网络为例,仅控制一个节点就可以成功识别出该网络的未知拓扑结构,同时,驱动网络和响应网络达到了同步.     

离散时间风险模型的递推公式

在本文中,我们研究了含有投资和通货膨胀因素的离散时间风险模型,通过递推的方法,得到了有限时间内的破产概率、破产时间的分布、破产持续时间的分布的递推公式.     

具有时变时滞多智能体系统二分一致性

针对具有时变时滞的多智能体系统二分一致性问题,设计出相应的一致性协议.进一步,通过规范变换和状态变换将二分一致性问题转化为相应的稳定性问题.构造LyapunovKrasovskii泛函,利用线性矩阵不等式(LMI)理论并结合自由矩阵的方法得到多智能体系统达到二分一致的充分条件.对于固定拓扑和切换拓扑情形均进行了研究,当系统具有切换拓扑时,利用平均驻留时间方法分析得到保证系统二分一致性成立的充分条件.最后,利用仿真实例说明所得结果的有效性.     

Robust fixed-time consensus protocols for multi-agent systems with nonlinear state measurements

This paper solves the robust fixed-time consensus problem for multi-agent systems with nonlinear state measurements. Sufficient conditions are established for the proposed protocol to reach fixed-time consensus under time-varying undirected and fixed directed topology with the aid of Lyapunov functions. It is proved that the finite settling time of the presented protocol for robust consensus is uniformly bounded for any initial condition, which makes it possible for people to design and estimate the convergence time off-line. Numerical simulations are preformed to show the effectiveness of our proposed protocol.     

Consensus seeking in multi-agent systems via hybrid protocols with impulse delays

This paper studies the consensus problem of multi-agent systems with both fixed and switching topologies. A hybrid consensus protocol is proposed to take into consideration of continuous-time communications among agents and delayed instant information exchanges on a sequence of discrete times. Based on the proposed algorithms, the multi-agent systems with the hybrid consensus protocols are described in the form of impulsive systems or impulsive switching systems. By employing results from matrix theory and algebraic graph theory, some sufficient conditions for the consensus of multi-agent systems with fixed and switching topologies are established, respectively. Our results show that, for small impulse delays, the hybrid consensus protocols can solve the consensus problem if the union of continuous-time and impulsive-time interaction digraphs contains a spanning tree frequently enough. Simulations are provided to demonstrate the effectiveness of the proposed consensus protocols.     

Variable impulsive consensus of nonlinear multi-agent systems

In this paper, the consensus problem for nonlinear multi-agent systems with variable impulsive control method is studied. In order to decrease the communication wastage, a novel distributed impulsive protocol is designed to achieve consensus. Compared with the common impulsive consensus method with fixed impulsive instants, the variable impulsive consensus method proposed in this paper is more flexible and reliable in practical application. Based on Lyapunov stability theory and some inequality techniques, several novel impulsive consensus conditions are obtained to realize the consensus of multi-agent systems. Finally, some necessary simulations are performed to validate the effectiveness of theoretical results.     

Convergence rate for consensus with delays

We study the problem of reaching a consensus in the values of a distributed system of agents with time-varying connectivity in the presence of delays. We consider a widely studied consensus algorithm, in which at each time step, every agent forms a weighted average of its own value with values received from the neighboring agents. We study an asynchronous operation of this algorithm using delayed agent values. Our focus is on establishing convergence rate results for this algorithm. In particular, we first show convergence to consensus under a bounded delay condition and some connectivity and intercommunication conditions imposed on the multi-agent system. We then provide a bound on the time required to reach the consensus. Our bound is given as an explicit function of the system parameters including the delay bound and the bound on agents’ intercommunication intervals.     

On consensus speed of multi-agent systems with double-integrator dynamics

The performance of multi-agent systems is an important issue. In this paper, it is focused on consensus speed for multi-agent systems with double-integrator dynamics and fixed undirected graphes under a kind of consensus protocols. It is revealed that, under some conditions, the maximum consensus speed is determined by the largest and the smallest nonzero eigenvalues of the Laplacian matrix of the undirected connected graph. Based on the mentioned results, arbitrary desired consensus speed can be achieved by choosing suitable feedback gains. Numerical simulations are given to illustrate the main results.     

Asymptotic pinning synchronization of nonlinear multi-agent systems: Its application to tunnel diode circuit

This work proposes a pinning state-feedback control technique for synchronizing non-linear multi-agent systems (MASs) with time delays. A collection of switching-directed graphs describes the communication exchanges between all of the agents. The challenge of asymptotic stability analysis for some error systems is translated into the construction of a leader-following synchronization of the relevant MASs. The closed-loop system could be acquired by building a convenient Lyapunov–Krasovskii functional (LKF) that has two integral terms, and by using Kronecker product qualities combined with matrix inequality techniques. When these conditions are met, a state-feedback pinning controller can be built with linear matrix inequalities (LMIs), which can be derived easily from a number of efficient optimization algorithms. Further, the performance of the proposed control design system is verified based on a tunnel diode circuit (TDC) by numerical simulations.     

Impulsive consensus of one-sided Lipschitz nonlinear multi-agent systems with Semi-Markov switching topologies

Many real systems involve not only parameter changes but also sudden variations in environmental conditions, which often causes unpredictable topologies switching. This paper investigates the impulsive consensus problem of the one-sided Lipschitz nonlinear multi-agent systems (MASs) with Semi-Markov switching topologies. Different from the existing modeling methods of the Markov chain, the Semi-Markov chain is adopted to describe this kind of randomly occurring changes reasonably. To cope with the communication and control cost constraints in the multi-agent systems, the distributed impulsive control method is applied to address the leader–follower consensus problem. Beyond that, to obtain a wider nonlinear application range, the one-sided condition is delicately developed to the controller design, and the results are different from the ones obtained in the traditional method with the Lipschitz condition (note that the existing results are usually only applicable to the case with small Lipschitz constant). Based on the characteristics of cumulative distribution functions, the theory of Lyapunov-like function and impulsive differential equation, the asymptotically mean square consensus of multi-agent systems is maintained with the proposed impulsive control protocol. Finally, an explanatory simulation is presented to validate the correctness of the proposed approach conclusively.     

Impulsive consensus problem of second-order multi-agent systems with switching topologies

The paper proposes an impulsive consensus protocol to solve the consensus problem of the second-order multi-agent systems with fixed and switching topologies. Some sufficient conditions are obtained for the states of follower agents converging to the state of leader asymptotically. Two numerical simulations are also given to verify the effectiveness of the theoretical analysis.     

具有领导者的非线性分数阶多智能体系统的一致性分析

研究了利用非线性分数阶模型描述的具有领导者的多智能体系统的一致性问题.基于智能体之间的通讯拓扑图,设计了系统的控制协议和相应的控制增益矩阵.利用广义Gronwall不等式和分数阶微分方程的稳定性理论,得到了多智能体系统达到一致的充分条件.最后,数值仿真结果显示了理论结果的有效性.     

Tracking consensus of nonlinear MASs with asymmetric communication delays in noisy environments

This paper investigates the tracking consensus problem of nonlinear multi-agent systems (MASs) with asymmetric time-varying communication delays in noisy environments under the conditions of fixed and switching directed topologies. A novel stochastic analysis approach is proposed, which guarantees that the designed two distributed tracking protocols can guide the controlled systems to achieve tracking consensus in the sense of mean square. In order to further reveal the influence of asymmetric communication delays on the tracking consensus ability for MASs, some new delay-dependent sufficient conditions for mean-square consensus are also developed. A simple example is finally given to illustrate the effectiveness of the proposed theoretical results.