基于马尔科夫拓扑切换和随机通信干扰的连续时间多自主体系统的趋同控制

研究了基于不可靠通信网络的连续时间多自主体系统的趋同控制.自主体间的通信信道受高斯噪声干扰;不可靠通信因素导致的网络拓扑随机切换由马氏链刻画.为克服随机噪声和马尔科夫拓扑切换的影响,设计了随机逼近型趋同协议;基于马氏跳参数随机微分方程稳定性理论、代数图理论、连续鞅和马氏链理论,证明了多自主体系统实现渐近无偏均方平均趋同...     

带有时延和乘性量测噪音的离散时间多自主体系统的趋同控制

本文研究带有时延和乘性量测噪音的离散时间多自主体系统的随机趋同控制.利用图论、矩阵论和概率论中的分析工具,将随机趋同问题转化成离散时间随机时延系统的随机稳定性问题.通过建立随机稳定性准则,给出了多自主体系统达到趋同所需的关于控制增益的充分条件.针对一阶多自主体系统,在平衡拓扑条件下证明对任何有界时延和任意强度的噪音,都可以通过选取合适的控制增益来达到均方和几乎必然强趋同.针对二阶多自主体系统,在无向拓扑条件下给出了均方和几乎必然趋同的充分条件,并证明对任意有界时延和任意强度的噪音,都可以通过选取合适的控制增益来实现位移分量弱趋同和速度分量强趋同.这些结果被进一步推广到具有领导者的情形.     

有限通信数据率下一阶多自主体系统的包含控制设计

研究了多个静态领导及有限通信数据率下一阶多自主体系统的分布式包含控制问题.通信拓扑为有向图.给出了存在基于量化信息的协议使得系统达到包含一致性的充要条件,还给出了此包含控制协议的设计算法.     

事件触发下多智能体系统规定时间二分一致性

针对线性合作竞争多智能体系统(MAS),考虑到可能受到的外部干扰,研究了系统基于事件触发机制的规定时间二分一致性控制问题.首先,设计干扰观测器估计系统受到的外部干扰,且针对每个智能体给出了事件触发条件,以减少智能体间的通信频率,节省有限的通信网络资源,同时证明避免了Zeno现象,其次,为了明确地预先分配稳定时间,结合干扰观测器的估计值,设计了一种合作和竞争并存拓扑结构的规定时间事件触发控制协议,以保证所有智能体在受到外部干扰的情况下仍然达到二分一致.最后,利用仿真实例验证了所提出方法的可行性和有效性.     

具有两个中心点的平面二次系统

<正> 本文给出二次系统具有两个中心点的充要条件,及双中心情形下四种全局拓扑结构的判别方法.文[1]用若干不变量给出上述充要条件,文[2]讨论了至少具有一个中心点的二次系统的全局拓扑结构,其中有关双中心的四种之一似有误.在本文送审期间,我们见到了文[3]的工作,它用[1]的方法,改进并完善了[2]的结果.对于某些常见的方     

R上自相似迭代的表示的等价性

讨论自相似迭代系统的等价性,在满足开集条件与等缩条件的情况下,除了平凡情形之外,我们给出了迭代系统的等价性的一个十分简洁的充要条件。     

平面及球面上几类可嵌入连续流的自同胚的特征

本文给出了带及圆柱面上的自同胚与平移拓扑共轭(从而可嵌入连续流)的几个充要条件,简化了E. Sperner的一个关于平面自同胚的定理的证明方法并给出了与平面上的位似变换或球面上的标准移动拓扑共轭的自同胚的一些特征。     

三次系统(E13)存在四角形双曲线分界线环的充要条件

得到了三次系统E13存在四角形双曲线分界线环的充要条件,并给出了它们的拓扑分类和各种拓扑结构的参数条件.     

三次系统E_3~1存在四角形双曲线分界线环的充要条件

得到了三次系统Ｅ１３存在四角形双曲线分界线环的充要条件，并给出了它们的拓扑分类和各种拓扑结构的参数条件．     

三次系统Ｅ^13存在四角形双曲线分界线环的充要条件

得到了三次系统Ｅ^13存在四角形双曲线分界线环的充要条件,并给出了它们的拓扑分类和各种拓扑结构的参数条件。     

具有部分状态信息的二阶多智能体系统的一致性

研究二阶连续多智能体系统的一致性问题,其中每个智能体只能在一系列离散时刻上获得位置信息.为了关于完全状态,即位置和速度,都达到一致,设计一类协议,并建立在该协议下,一致性成立的充要条件.该条件揭示了交流拓扑、控制器增益、采样周期和保持器的更新周期之间的关系.仿真例子表明理论结果是有效的.     

一阶多智能体系统的一致性分析

研究一阶连续多智能体系统的一致性问题,其中每个智能体只能在一系列离散时刻上获得其相对邻居的状态信息,并且每个智能体的保持器的周期和采样器的周期是不同的.通过分析多智能体系统的稳定性,获得了一致性成立的充要条件,该条件揭示了交流拓扑、控制器增益、采样器的周期和保持器的周期的关系.最后,提供一个仿真例子以说明理论结果的有效性.     

New differentiated consensus problem with topology cost constraints

A new differentiated consensus problem is studied. The problem is, given a system with multiple classes, consensus is targeted for each class and the consensus values can be different among the classes. Specifically, differentiated consensus is studied in a distributed stochastic network of nodes (or agents), where tasks assigned with different priorities are serviced. The network is assumed to have a switching topology and involves noises, delays in measurements, and topology cost constraints. The goal is to reach a balanced load (i.e., consensus) across the network and, at the same time, to satisfy the topology cost constraint, both for each priority class. A new control protocol is proposed, with which the network resources are allocated in a randomized way with a probability assigned to each priority class. It is shown that the control protocol meets the topology cost constraint and can be used to reach an approximate consensus for each of the priority classes in the network.     

On the determination of the worst sampling error in a communication system for pulse-amplitude-modulated signals by solving an approximation problem

A communication system for pulse-amplitude-modulated signals is considered whose impulse response is bandlimited. For a certain class of sampling errors the worst case is investigated where the sampling error of the system is such that the least mean square transmission error achieved by a suitable choice of the impulse response becomes maximal. This problem is dualized in the sense of two person game theory and thereby transferred to an equivalent approximation problem for whose solution a necessary and sufficient condition is given and applied to special cases.     

Consensus problems in discrete-time multiagent systems with fixed topology

In this paper, we study the consensus problems in discrete-time multiagent systems with fixed topology. A necessary and sufficient condition for a system that solves a consensus problem is established, and the structure of consensus functions is characterized. Based on them, we introduce the standard topologies (graphs) of information flow, with which the systems can be viewed as single-leader-multi-follower systems. Moreover, the convex combination of these topologies can create a system that solves any predeterminate consensus problem. Additionally, we characterize the structural decomposition—the leaders-followers decomposition of a multiagent system, and establish a necessary and sufficient condition for an agent to be a leader.     

Some remarks concerning the stability of a linear stochastic system

The method for investigating the asymptotic stability in the mean square of a linear stochastic system with Gaussian “white noises” proposed in [1] is developed. Section 1 contains an interpretation of the result obtained [1] in terms of the stability quality criterion employed in controlled systems theory. Section 2 contains the necessary and sufficient conditions of asymptotic stability in the mean square in the Routh-Hurwitz form of a linear stochastic system for the case where the intensities of noises acting in different directions are proportional to each other. This result generalizes the stability conditions given in [1 and 2] ^*.     

基于事件触发策略的多智能体系统的最优主-从一致性分析

研究了具有领导者的线性多智能体系统的主 从一致性问题.借助各智能体间的通讯拓扑所构成的无向图,提出一种基于事件触发的自适应动态规划方法,并使用神经网络的逼近性质设计出了近似最优控制.利用Lyapunov稳定性定理,分析了多智能体误差系统的稳定性,并找到一个该误差系统最终有界的充分条件.数值仿真结果进一步验证了理论分析的有效性.     

Finite-time consensus for switching network topologies with disturbances

In this paper we investigate the properties of a decentralized consensus algorithm for a network of continuous-time integrators subject to unknown-but-bounded time-varying disturbances. The proposed consensus algorithm is based on a discontinuous local interaction rule. Under certain restrictions on the switching topology, it is proven that after a finite transient time the agents achieve an approximated consensus condition by attenuating the destabilizing effect of the disturbances. This main result is complemented by an additional result establishing the achievement of consensus under different requirements on the switching communication topology. In particular, we provide a convergence result that encompasses situations in which the time varying graph is always disconnected. Lyapunov analyses are carried out to support the suggested algorithms and results. Simulative tests considering, as case study, the synchronization problem for a network of clocks are illustrated and commented on to validate the developed analysis.