基于对偶四元数的卫星信息一致性控制

为了解决航天器控制信息一致性问题,提出了利用对偶四元数来描述对象的位置及姿态信息,实现位置与姿态的统一表述。同时利用信息一致性理论,通过设计航天器间的信息传递模型来解决分布式航天器间的状态同步问题。采用对偶四元数及信息一致性理论为工具,分别给出了位姿同步及跟踪两种控制方法并针对两种信息拓扑模型,以空间交会对接问题进行仿真实验,实验结果表明,在500s以内,卫星的位置及姿态实现了同步及跟踪控制。     

Tracking consensus for nonlinear heterogeneous multi-agent systems subject to unknown disturbances via sliding mode control

We investigate the tracking control for a class of nonlinear heterogeneous leader-follower multi-agent systems(MAS)with unknown external disturbances. Firstly, the neighbor-based distributed finite-time observers are proposed for the followers to estimate the position and velocity of the leader. Then, two novel distributed adaptive control laws are designed by means of linear sliding mode(LSM) as well as nonsingular terminal sliding mode(NTSM), respectively. One can prove that the tracking consensus can be achieved asymptotically under LSM and the tracking error can converge to a quite small neighborhood of the origin in finite time by NTSM in spite of uncertainties and disturbances. Finally, a simulation example is given to verify the effectiveness of the obtained theoretical results.     

Stochastic bounded consensus of second-order multi-agent systems in noisy environment

This paper investigates the stochastic bounded consensus of leader-following second-order multi-agent systems in a noisy environment. It is assumed that each agent received the information of its neighbors corrupted by noises and time delays. Based on the graph theory, stochastic tools, and the Lyapunov function method, we derive the sufficient conditions under which the systems would reach stochastic bounded consensus in mean square with the protocol we designed. Finally,a numerical simulation is illustrated to check the effectiveness of the proposed algorithms.     

考虑处置效果的苯系物泄露应急方案生成方法

针对苯系物泄露次生突发环境事件的应急响应问题,研究了基于案例推理和处置效果的应急方案生成方法。首先,在计算案例相似度时,为避免历史案例不全产生的情景要素遗失,基于随机森林算法,结合专家知识构建了权重求解方法,采用案例检索方法得到相似案例集;然后,构建了应急处置效果评估指标体系,以全面评价相似案例对应的处置效果;进一步,考虑多专家评价可弥补决策者知识、经验等的不足,引入了自适应群共识调整算法,得到群体评价意见,通过集结相似度与处置效果,得到了方案的综合评价值并生成最优方案;最后,用算例说明了方法的可行性和有效性。     

Collective composite-rotating consensus of multi-agent systems

This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts： the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.     

Detecting community structure using label propagation with consensus weight in complex network

Community detection is a fundamental work to analyse the structural and functional properties of complex networks.The label propagation algorithm(LPA) is a near linear time algorithm to find a good community structure. Despite various ubsequent advances, an important issue of this algorithm has not yet been properly addressed. Random update orders within the algorithm severely hamper the stability of the identified community structure. In this paper, we executed the asic label propagation algorithm on networks multiple times, to obtain a set of consensus partitions. Based on these onsensus partitions, we created a consensus weighted graph. In this consensus weighted graph, the weight value of the dge was the proportion value that the number of node pairs allocated in the same cluster was divided by the total number f partitions. Then, we introduced consensus weight to indicate the direction of label propagation. In label update steps,y computing the mixing value of consensus weight and label frequency, a node adopted the label which has the maximum mixing value instead of the most frequent one. For extending to different networks, we introduced a proportion parameter o adjust the proportion of consensus weight and label frequency in computing mixing value. Finally, we proposed an pproach named the label propagation algorithm with consensus weight(LPAcw), and the experimental results showed that he LPAcw could enhance considerably both the stability and the accuracy of community partitions.     

State-dependent event-triggered control of multi-agent systems

Event-triggered control has been recent/y proposed as an effective strategy for the consensus of multi-agent systems. We present an improved distributed event-triggered control scheme that remedies a shortcoming of some previous event- triggered control schemes in the literature. This improved distributed event-triggered method has no need for continuously monitoring each agent＇ neighbors. Moreover, each agent in the multi-agent systems will not exhibit the Zeno behavior. Numerical simulation results show the effectiveness of the proposed consensus control.     

社会群体中观点的信任、演化与共识

针对连续观点动力学模型中缺乏对个体信任及其观点的不同权重的考虑,本文通过扩展HegselmannKrause模型,引入个体间的信任度和观点间的相似度,将有限信任假设扩展为有限影响假设,建立带权重的观点更新模型,以研究社会群体中少数的偏执个体和权威个体对观点形成、演化以及共识构建过程的影响.仿真结果表明,这两类个体的初始观点尽量接近观点分布区间中点0.5或者增加偏执个体的影响阈值和权威个体的可信任程度可以使群体形成更少和更大的观点簇.随着偏执个体的影响阈值增加,最大簇的观点位置集中于0.5附近;而增加权威个体的可信任程度,最大簇的观点不断接近权威个体的最终观点.模型结果能够在一定程度上反映和解释现实社会中偏执个体和权威个体现象.     

Admissible consensus and consensualization of high-order linear time-invariant singular swarm systems

Admissible consensus analysis and consensualizing controller design problems for high-order linear time-invariant singular swarm systems are investigated. Firstly, by projecting the state of a singular swarm system onto a consensus subspace and a complement consensus subspace, a necessary and sufficient condition for admissible consensus is presented in terms of linear matrix inequalities (LMIs). An approach to decrease the calculation complexity is proposed, by which only three LMIs independent of the number of agents need to be checked. Then, by using the changing variable method, sufficient conditions for admissible consensualization are shown. An explicit expression of the consensus function is given, and it is shown that the modes of the consensus function can be arbitrarily placed if each agent is R$R$-controllable and impulse controllable and the interaction topology has a spanning tree. Finally, theoretical results are applied to deal with cooperative control problems of multi-agent supporting systems.     

具有不同时延的多智能体系统一致性分析

针对有向加权且存在全局可达点的静态网络拓扑, 考虑了同时具有通信时延和输入时延的一阶、二阶智能体系统的运动一致性问题. 基于广义Nyquist准则与频域控制理论的方法, 分析并得到了网络中所有智能体渐进收敛到一致状态的充分条件. 通过该条件发现一致性的达到只与系统的耦合强度、智能体的输入时延以及各自的连接状态信息有关, 与通信时延无关. 但是, 通信时延的存在却要影响系统的动态特性. 仿真实验结果进一步验证了理论分析所得结论的正确性.