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.     

Pattern时延差编码四信道水声通信技术研究

本文所研究的是基于Pattern时延差编码（PDS）体制下的水声通信技术.PDS水声编码体制利用Pattern码片出现在码元窗的时延差值进行时延编码,通过码元分割,有效的降低了水声信道的多途干扰;通过频率分割划分四个通信信道,增加通信速率至1000bit/s.在接收端利用带通滤波器来实现通信信道分割,每个信道再应用拷贝相关器实现码元分割并估计出时延差值,完成译码.仿真实验表明,该系统适合于大量不同水声信道高可靠性工作,为水声通信网络化打下坚实基础.     

时延多智能体系统分组一致性分析

研究了拓扑结构为连通无向图与连通二分图的一阶时延多智能系统分别在两类控制协议下的分组一致性问题．基于广义Nyquist准则与频域控制理论的方法,分析并得到了多智能体系统渐进分组收敛一致的充分条件．通过该条件发现系统分组一致性的达到与系统的时延以及智能体间的耦合强度相关．同时,时延的大小影响着系统的收敛速度与动态性能．仿真实验的结果进一步验证了理论分析所得结论的正确性．     

循环移位扩频水声通信

针对常规直接序列扩频水声通信数据传输速率低及M元扩频水声通信接收机复杂度高的问题,基于扩频序列优良的相关特性,提出循环移位扩频水声通信方法.在发射端,根据输入信息对基本波形进行循环移位编码;在接收端,利用快速相关技术进行时延估计及译码.进行了中远程湖上实验研究,在15 km距离,2 kHz带宽内,总数据传输速率可达438 bit/s, 误码率为10^-2—10^-5.实验结果表明该方法具有带宽利用率高、复杂度低的特点,适用于中远程及多用户水声通信. 关键词： 水声通信 扩频 循环移位 时延估计     

变时延遥操作交会的Smith模糊控制

针对地面遥操作空间航天器进行交会的情况,研究了变时延条件下遥操作交会逼近段的轨道控制问题.利用根轨迹法分析了时延对遥操作交会控制的影响;通过设计时延缓冲器,将变时延系统转化成了定常时延系统;基于相对轨道动力学方程建立了被控对象的预测模型,利用Smith预测原理设计了定常时延下的多变量Smith预测器,使得控制器与执行器的输入不受时延的影响;同时采用模糊控制方法,以消除模型不确定性等因素的影响;最后,利用半实物仿真系统开展仿真试验,对本文所述方法进行了验证.仿真结果表明,通过采用带时延缓冲器的Smith模糊控制的方法,能有效降低地面遥操作交会过程中变时延以及模型不确定性的影响,提高交会成功率和精度.     

M元混沌扩频多通道Pattern时延差编码水声通信

Pattern时延差编码水声通信体制利用信息码元的时延值调制信息,他的抗多途扩展干扰能力与码型种类及码型脉宽有关.扩频通信可获得扩频增益,可胜任远程水声通信,但其通信速率低是使用受限的重要原因.提出将扩频通信与Pattern时延差编码水声通信体制相结合,并采用M元扩频、多通道工作方式,构成一种新的适用于水声环境的通信方案,既可获得扩频通信的优良性能,又可提高通信速率.湖试结果验证了本文提出的M元混沌扩频多通道Pattern时延差编码水声通信方案的鲁棒性及可行性.     

参数不确定时延超混沌系统的脉冲同步方法研究

针对一类参数不确定的异构时延超混沌系统,采用响应系统与驱动系统状态变量误差的线性反馈作为脉冲控制信号,基于Lyapunov稳定性理论实现了超混沌系统的脉冲同步,给出了渐近稳定条件,并构造了一个具有时延的数字保密通信系统.该方案保密性高,鲁棒性强.数值仿真表明系统能快速达到同步,应用混沌密码序列对数字信号进行加密后,信息信号可以在接收端有效地恢复出来. 关键词： 时延 脉冲同步 数字保密通信     

基于差分Pattern时延差编码和海豚whistles信号的仿生水声通信技术研究

为解决传统的隐蔽水声通信方法带来的通信性能降低问题, 提出了一种将差分 Pattern 时延差编码通信体制与海豚whistles信号相结合的仿生水声通信技术. 海豚whistles信号频带较窄且各信息码元间隔不等、码元之间互相关性较弱, 选取whistles信号作同步码和Pattern 码, 并以相邻whistles信号之间的时延差值携带信息. 这种仿生的水声通信信号不易被敌方探测、截获, 且差分Pattern时延差特殊的编码方式也不易使信息被破译, 因此该水声通信技术具有较强的隐蔽性和保密性, 且在抗码间干扰以及抗多普勒效应方面具有优异性能. 本文对系统进行了水池实验, 在信噪比为0 dB、存在相对运动时实现了通信速率为67 bit/s的低误码数据传输, 验证了系统的有效性、稳健性和隐蔽性. 关键词： 仿生水声通信 差分Pattern时延差编码 海豚whistles信号 隐蔽性     

带时延与丢包的网络化多智能体系统控制器设计

网络时延与数据丢包极大地降低了网络化多智能体系统的控制性能,甚至会破坏稳定性.考虑存在网络时延与数据丢包的网络化多智能体系统,提出了一种基于时延与丢包补偿机制的预测控制器设计方法,来主动地消除网络时延与数据丢包的影响.通过对网络化多智能体预测控制系统的分析,给出了能够保证系统稳定性与一致性的控制器设计步骤.最后的仿真实例表明了该方法的有效性.     

M元混沌扩频多通道Pattern时延差编码水声通信

Pattern时延差编码水声通信体制利用信息码元的时延值调制信息，他的抗多途扩展干扰能力与码型种类及码型脉宽有关. 扩频通信可获得扩频增益，可胜任远程水声通信，但其通信速率低是使用受限的重要原因. 提出将扩频通信与Pattern时延差编码水声通信体制相结合，并采用M元扩频、多通道工作方式，构成一种新的适用于水声环境的通信方案，既可获得扩频通信的优良性能，又可提高通信速率. 湖试结果验证了本文提出的M元混沌扩频多通道Pattern时延差编码水声通信方案的鲁棒性及可行性.     

Dynamical Consensus Algorithm for Second-Order Multi-Agent Systems Subjected to Communication Delay

To solve the dynamical consensus problem of second-order multi-agent systems with communication delay,delay-dependent compensations are added into the normal asynchronously-coupled consensus algorithm so as to make the agents achieve a dynamical consensus. Based on frequency-domain analysis, sufficient conditions are gained for second-order multi-agent systems with communication delay under leaderless and leader-following consensus algorithms respectively. Simulation illustrates the correctness of the 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.     

Stochastic bounded consensus tracking of leader–follower multi-agent systems with measurement noises based on sampled-data with small sampling delay

This paper is concerned with the stochastic bounded consensus tracking problems of leader–follower multi-agent systems, where the control input of an agent can only use the information measured at the sampling instants from its neighborhood agents or a virtual leader with a time-varying reference state, the measurements are corrupted by random noises, and the signal sampling process induces a small sampling delay. The augmented matrix method, probability limit theory and algebra graph theory are employed to derive the necessary and sufficient conditions guaranteeing mean square bounded consensus tracking. It turns out that the convergence of the proposed protocol simultaneously depends on the constant feedback gains, the network topology, the sampling period and the sampling delay, and that the static consensus tracking error depends on not only the above-mentioned factors, but also the noise intensity, the number of agents and the upper bound of the changing rate of the virtual leader’s state. The obtained results cover no sampling delay as a special case. Simulations are provided to demonstrate the effectiveness of the theoretical results.     

Successive lag synchronization on dynamical networks with communication delay

In this paper, successive lag synchronization(SLS) on a dynamical network with communication delay is investigated.In order to achieve SLS on the dynamical network with communication delay, we design linear feedback control and adaptive control, respectively. By using the Lyapunov function method, we obtain some sufficient conditions for global stability of SLS. To verify these results, some numerical examples are further presented. This work may find potential applications in consensus of multi-agent systems.     

Consensus problems of first-order dynamic multi-agent systems with multiple time delays

Consensus problems of first-order multi-agent systems with multiple time delays are investigated in this paper. We discuss three cases: 1) continuous, 2) discrete, and 3) a continuous system with a proportional plus derivative controller. In each case, the system contains simultaneous communication and input time delays. Supposing a dynamic multi-agent system with directed topology that contains a globally reachable node, the sufficient convergence condition of the system is discussed with respect to each of the three cases based on the generalized Nyquist criterion and the frequency-domain analysis approach, yielding conclusions that are either less conservative than or agree with previously published results. We know that the convergence condition of the system depends mainly on each agent’s input time delay and the adjacent weights but is independent of the communication delay between agents, whether the system is continuous or discrete. Finally, simulation examples are given to verify the theoretical analysis.     

Synchronization and bidirectional communication without delay line using strong mutually coupled semiconductor lasers

This paper numerically demonstrates synchronization and bidirectional communication without delay line by using two semiconductor lasers with strong mutual injection in a face-to-face configuration.These results show that both of the two lasers' outputs synchronize with their input chaotic carriers.In addition,simulations demonstrate that this kind of synchronization can be used to realize bidirectional communications without delay line.Further studies indicate that within a small deviation in message amplitudes of two sides (±6%),the message can be extracted with signal-noise-ratio more than 10 dB;and the signal-noise-ratio is extremely sensitive to the message rates mismatch of two sides,which may be used as a key of bidirectional communication.     

KrF激光触发气体开关的实验研究

本文主要介绍一台激光触发气体开关在直流电压下其延迟及抖动时间随输入激光功率、开关欠压比的变化以及在不同的工作条件（工作气体、欠压比等）下测量开关触发阈值的实验。文章给出了实验结果以及山这些结果得出的结论，并对一些结果进行了分析讨论。     

Theoretical study on slow light in different structures of optical microfiber knot resonators (OMKRs)

Based on the light propagation theory of the single-ring optical microfiber knot resonator (OMKR), we further establish the similar theory for OMKRs with a parallel connection structure and that with a serial connection structure, respectively. The relationships of the output and the input light fields in different OMKRs are analyzed. Numerical simulations of the slow-light performances of the OMKRs with single ring, multi-parallel rings and multi-serial rings at the communication wavelength around 1550 nm are given and discussed. Compared with the single-ring OMKR, it is found that a large group time delay with very narrow bandwidth can be obtained in OMKRs with n-ring parallel connection structure, while a broadband group time delay can be achieved in OMKRs with n-ring serial connection structure.     

掺铒光纤中方波信号高次谐波的快慢光特性

光纤中方波信号的慢光技术在全光通信和光纤传感等领域具有重要的应用前景. 提出了谐波相对延时量的度量方法, 分别采用速率方程和相干布居振荡理论, 对掺铒光纤中方波信号的基波和高次谐波的快慢光特性进行了研究. 在无抽运光输入情况下, 改变入射光功率, 入射探测光的基波最大相对延时量能达到20%, 且存在实现最大相对延时量的入射光功率为8 mW; 在有抽运光输入的情况下, 改变信号光增益, 入射探测光的基波相对超前量同样能达到-20%, 且随着信号光增益的增大而增加. N次谐波(N=1, 3, 5, 7, …)在频率f/N(f为基波信号最大延时量对应的调制频率)处有最大相对延时量, 且它们的最大延时量相同, 频率处于相干布居振荡引起的光谱烧孔带宽内.