Consensus protocol for heterogeneous multi-agent systems: A Markov chain approach

This paper deals with the consensus problem for heterogeneous multi-agent systems. Different from most existing consensus protocols, we consider the consensus seeking of two types of agents, namely, active agents and passive agents. The objective is to directly control the active agents such that the states of all the agents would achieve consensus. In order to obtain a computational approach, we subtly introduce an appropriate Markov chain to cast the heterogeneous systems into a unified framework. Such a framework is helpful for tackling the constraints from passive agents. Furthermore, a sufficient and necessary condition is established to guarantee the consensus in heterogeneous multi-agent systems. Finally, simulation results are provided to verify the theoretical analysis and the effectiveness of the proposed protocol.     

Adaptive Consensus Problem of Leader-Follower Multi-Agent System

We consider the adaptive consensus problem for leader-follower multi-agent systems with time delay coupling. Under the condition that the interconnection graph of the agents is directed and balanced, a neighbor-based consensus protocol with adaptive feedback gain is proposed for the follower agents to track the leader. The stability is performed based on the Lyapunov stability theorem. Some simulation examples are provided to show the efficiency of the control scheme.     

Nonlinear consensus protocols for multi-agent systems based on centre manifold reduction

Nonlinear consensus protocols for dynamic directed networks of multi-agent systems with fixed and switching topologies are investigated separately in this paper. Based on the centre manifold reduction technique, nonlinear consensus protocols are presented. We prove that a group of agents can reach a β-consensus, the value of which is the group decision value varying from the minimum and the maximum values of the initial states of the agents. Moreover, we derive the conditions to guarantee that all the agents reach a β--consensus on a desired group decision value. Finally, a simulation study concerning the vertical alignment manoeuvere of a team of unmanned air vehicles is performed. Simulation results show that the nonlinear consensus protocols proposed are more effective than the linear protocols for the formation control of the agents and they are an improvement over existing protocols.     

Leaderless and leader-following consensus of linear multi-agent systems

This paper studies the consensus problems for multi-agent systems with general linear and nonlinear dynamics. The leaderless and leader-following consensus problems are investigated respectively. Contraction theory is employed to generate some sufficient conditions for testing the agents reaching consensus. Under these conditions and certain assumptions,the trajectories of multi-agent systems in directed topology will converge to each other. Finally, two numerical examples are given to illustrate the effectiveness of the proposed results.     

Reference model based consensus control of second-order multi-agent systems

This paper deals with the consensus problem of multi-agent systems with second-order dynamics.The objective is to design algorithms such that all agents will have same positions and velocities.First,a reference model based consensus algorithm is proposed.It is proved that the consensus can be achieved if the communication graph has a spanning tree.Different from most of the consensus algorithms proposed in the literature,the parameters of the control laws are different among agents.Therefore,each agent can design its control law independently.Secondly,it gives a consensus algorithm for the case that the velocities of the agents are not available.Thirdly,the effectiveness of the input delay and the communication delay is considered.It shows that consensus can be achieved if the input delay of every agent is smaller than a bound related to parameters in its control law.Finally,some numerical examples are given to illustrate the proposed results.     

Cluster consensus of second-order multi-agent systems via pinning control

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.     

Finite-time consensus of heterogeneous multi-agent systems

We investigate the finite-time consensus problem for heterogeneous multi-agent systems composed of first-order and second-order agents.A novel continuous nonlinear distributed consensus protocol is constructed,and finite-time consensus criteria are obtained for the heterogeneous multi-agent systems.Compared with the existing results,the stationary and kinetic consensuses of the heterogeneous multi-agent systems can be achieved in a finite time respectively.Moreover,the leader can be a first-order or a second-order integrator agent.Finally,some simulation examples are employed to verify the efficiency of the theoretical results.     

Cluster Consensus of Nonlinearly Coupled Multi-Agent Systems in Directed Graphs

We investigate the cluster consensus problem in directed networks of nonlinearly coupled multi-agent systems by using pinning control. Depending on the community structure generated by the group partition of the underlying digraph, various clusters can be made coherently independent by applying feedback injections to a fraction of the agents. Sufficient conditions for cluster consensus are obtained using algebraic graph theory and matrix theory and some simulations results are included to illustrate the method.     

Convergence speed of consensus problems over undirected scale-free networks

Scale-free networks and consensus behaviour among multiple agents have both attracted much attention.To investigate the consensus speed over scale-free networks is the major topic of the present work.A novel method is developed to construct scale-free networks due to their remarkable power-law degree distributions,while preserving the diversity of network topologies.The time cost or iterations for networks to reach a certain level of consensus is discussed,considering the influence from power-law parameters.They are both demonstrated to be reversed power-law functions of the algebraic connectivity,which is viewed as a measurement on convergence speed of the consensus behaviour.The attempts of tuning power-law parameters may speed up the consensus procedure,but it could also make the network less robust over time delay at the same time.Large scale of simulations are supportive to the conclusions.     

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms(formation control term, velocity matching term, and obstacle avoidance term) is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.     

有leader的二阶动态多智能体网络的L2—L∞控制

考虑系统噪声和时滞,利用L₂—L_∞控制理论研究了有leader的二阶定拓扑多智能体系统的协调一致问题.工程应用中控制输出的极大值经常需控制在一定范围内,并且考虑系统对位置变量和速度变量限制的范围不同,分别针对位置和速度的控制输出设计了加权系数;进而建立了多智能体系统的数学模型.对有时滞和无时滞的两种网络拓扑,利用李亚普诺夫函数,分析了多智能体系统在满足L₂—L_∞性 关键词： L₂—L_∞控制')" href="#">L₂—L_∞控制 多智能体系统 一致问题 时滞     

Numerical analysis of the short-circuit current density in GaInAsSb thermophotovoltaic diodes

In this paper, a simulation and analysis on the short-circuit current density (J_sc) of the P-GaSb window/P-Ga_xIn_1−xAs_1−ySb_y emitter/N-Ga_xIn_1−xAs_1−ySb_y base/N-GaSb substrate structure is performed. The simulations are carried out with a fixed spectral control filter at a radiator temperature (T_rad) of 950 °C, diode temperature (T_dio) of 27 °C and diode bandgap (E_g) of 0.5 eV. The radiation photons are injected from the front P-side. Expressions for minority carrier mobility and absorption coefficient of Ga_xIn_1−xAs_1−ySb_y semiconductors are derived from Caughey–Thomas and Adachi’s model, respectively. The P-Ga_xIn_1−xAs_1−ySb_y emitter with a much longer diffusion length is adopted as the main optical absorption region and the N-Ga_xIn_1−xAs_1−ySb_y base region contribute little to J_sc. The effect of P-GaSb window and P-Ga_xIn_1−xAs_1−ySb_y emitter region parameters on J_sc is mainly analyzed. Dependence of J_sc on thickness and carrier concentration of the window are analyzed; these two parameters need to be properly selected to improve J_sc. Contributions from the main carrier recombination mechanisms in the emitter region are considered; J_sc can be improved by suppressing the carrier recombination rate. Dependence of J_sc on the carrier concentration and layer thickness of the emitter P-region are also analyzed; these two parameters have strong effect on J_sc. Moreover, adding a back surface reflector (BSR) to the diode can improve J_sc. The simulated results are compared with the available experimental data and are found to be in good agreement. These theoretical simulations help us to better understand the electro-optical behavior of Ga_xIn_1−xAs_1−ySb_y TPV diode and can be utilized for performance enhancement through optimization of the device structure.     

Influence of the sample orientation in Sn<Subscript>2</Subscript>P<Subscript>2</Subscript>S<Subscript>6</Subscript> crystals on the hydrostatic piezoelectric coefficients

The influence of the sample orientation on the effective value of the hydrostatic piezoelectric coefficients d _h ⁽ⁱ⁾ of Sn₂P₂S₆ crystals has been studied. The hydrostatic piezoelectric coefficients d _h ⁽¹⁾ and d′ _h ⁽³⁾ , were measured, d _h ⁽¹⁾ =(244±3) pC/N and d′ _h ⁽³⁾ =(92±1) pC/N. The hydrostatic piezoelectric coefficient d _h ⁽³⁾ for orthogonal axis system was calculated to be d _h ⁽³⁾ =(87±2) pC/N. The, optimal orientation of the sample has been found as (Xy l)−20°-cut. Maximal value of the effective hydrostatic piezoelectric coefficient d _h ⁽¹⁾ equals 260 pC/N. Double rotated samples were also studied. The orientation of the samples insensitive to the pressure has been found. The theoretical mean value of hydrostatic piezoelectric coefficient (d _h ) _mean corresponding to randomly oriented Sn₂P₂S₆ grains in a poled composite has been calculated to be (d _h ) _mean =136 pC/N.     

Simulation of temperature-dependent material parameters and device performances for GaInAsSb thermophotovoltaic cell

Temperature-dependent material parameters and device performances of Ga_xIn_1−xAs_1−ySb_y TPV cells applied in low temperature (800–1200 °C) radiators are simulated using the PC-1D. As is well known, the optimum bandgap (E_g) decreases towards lower radiator temperatures. So far, the lowest achievable E_g of Ga_xIn_1−xAs_1−ySb_y at 300 K is 0.5 eV. We mainly considering the Ga_0.8In_0.2As_0.18Sb_0.82 (E_g = 0.5 eV) TPV cell. The effects of doping concentration and recombination mechanisms of the emitter layer on photovoltaic conversion efficiencies (η_cel) are analyzed in detail, and η_cel can be improved by optimizing doping concentration and suppressing carrier recombination. The effects of GaSb window layer on η_cel are also presented. It shows the type-II energy-band alignment GaSb(window)/GaInAsSb(emitter) heterostructure affect η_cel mainly through V_oc. For the first time, the effects of operating temperatures on device performances are analyzed based on temperature-dependent material parameters, and the temperature coefficients of the device performances are presented.     

Structural studies and T c dependence in La2−x Dy x Ca y Ba2Cu4+y O z type mixed oxide superconductors

A new series of mixed oxide superconductors with the stoichiometric composition La_2−x Dy _x Ca _y Ba₂Cu_4+y O _z (x=0.0 − 0.5, y=2x) has been studied for structural and superconductiong properties. Our earlier studies on La_2−x (Y/Er) _x Ca _y Ba₂Cu_4+y O _z series, show a strong dependence of T _c on hole concentration (p _sh). In the present work, the results of the analysis of the neutron diffraction measurements at room temprerature on x=0.3 and 0.5 samples are reported. It is interesting to know that Ca substitutes for both La and Ba site with concomitant displacement of La onto Ba site. Superconductivity studies show that maximum T _c is obtained for x=0.5, y=1.0 sample (T _c ∼ 75 K), for La_1.5Dy_0.5Ca₁Ba₂Cu₅O _z (La-2125).     

Ce4+离子在Ca2SnO4一维结构基质中的电荷迁移光谱研究

利用高温固相反应法制备了Ca₂Sn_1-xCe_xO₄和Ca_2-ySr_ySn_1-xCe_xO₄一维结构发光体. XPS结果显示 Ca₂SnO₄拥有两种结合能分别为5277 eV和5293 关键词： 2Sn_1-xCe_xO₄')" href="#">Ca₂Sn_1-xCe_xO₄ 2-ySr_ySn_1-xCe_xO₄')" href="#">Ca_2-ySr_ySn_1-xCe_xO₄ 一维结构 电荷迁移光谱     

密度泛函理论研究Scn，Yn和Lan(n=2—10)团簇的稳定性、电子性质和磁性

通过采用密度泛函理论对Sc₂,Y₂和La₂基本性质的计算,选择在较优理论水平下系统地研究了Sc_n, Y_n和La_n(n=2—10)团簇的几何结构、稳定性、电子性质和磁性及其随团簇尺寸的变化趋势.此同族三种团簇的稳定性由原子密堆集几何结构效应决定,幻数均表现出一致的结果.La_n团簇的能隙比 关键词： n')" href="#">Sc_n n和La_n团簇')" href="#">Y_n和La_n团簇 密度泛函理论 电子性质 磁矩     

Effects of Fe2+ substitution on magnetic and dielectric properties of CdCr2S4

The magnetic and dielectric properties of polycrystalline Cd_{1 - x}Fe_xCr₂S₄ (0 ≤ x ≤ 0.9) are investigated. Upon substitution of Cd by Fe, the Curie temperature (T_C) is increased while the saturation magnetization is decreased. A low doping level of Fe increases the permittivity, while a high doping level decreases the permittivity, which is explained by the internal barrier layer capacitor model. Kinks are observed in the temperature-dependent permittivity and loss tangent near T_C for the samples with x= 0.5, 0.7, 0.9, implying the existence of the magnetodielectric effect. Furthermore, with the increase of Fe content, a decrease of anomaly deviation rate induced by internal molecular field is revealed in the permittivity, while an increase is observed for the loss tangent.     

Terahertz time-domain reflection spectroscopy for high-Tc superconducting cuprates

We have developed a terahertz time-domain spectroscopy (THz-TDS) system for reflectivity measurement with a temperature-controllable cryostat. For emission and detection of THz radiation, a Ti:Sapphire pulsed laser and photoconductive antennas are used. Two wire-grid polarizers enable us to carry out the polarized reflectivity measurements. Using our THz-TDS system, we measured the c-axis polarized reflectivity spectra for La_2−xSr_xCuO₄ single crystals (x = 0.10 and 0.13) and observed sharp Josephson plasma edges for both samples below T_c. The reflectivity spectra of the x = 0.10 sample were in good agreement with those reported previously, which confirms the validity of the system. For the x = 0.13 sample, we discuss the anomolous features of the optical spectra.     

B位等价掺杂SrBi4Ti4O15铁电材料的性能研究

采用了传统的固相烧结工艺,制备了不同Zr和Hf掺杂量的SrBi₄Ti_4-xZr_xO₁₅（x=000,003, 006,010,020）和SrBi₄Ti_4－xHf_xO₁₅（x=000,0005, 0015,0030,0060）的陶瓷 关键词： 4Ti_4-xZr_xO₁₅')" href="#">SrBi₄Ti_4-xZr_xO₁₅ 4Ti_4－xHf_xO₁₅')" href="#">SrBi₄Ti_4－xHf_xO₁₅ 铁电性能 介电性能