一个新的网格多翅膀混沌系统及其电路实现

提出了一个新的三维二次自治混沌系统,与大多数广义Lorenz系统一样,该系统只能产生双翅膀吸引子.依据该双翅膀混沌系统平衡点和吸引子的拓扑结构,设计合适的非线性函数可以将其改进为一个产生网格多翅膀吸引子的混沌系统.对该网格多翅膀混沌系统的基本动力学特性进行了分析,证实了多翅膀吸引子的混沌特性.最后设计了混沌电路,给出了多翅膀混沌吸引子的电路仿真结果,证实了理论设计与电路实现的一致性.     

离散异质多智能体系统的分组一致性控制

针对一类混合异质多智能体系统的分组一致性控制问题进行了研究。具体分析了由一阶智能体和二阶智能体组成的混合异质系统,研究其在离散情况下的分组一致性。基于两个合理的假设提出了线性控制协议,运用代数图论、稳定性理论和矩阵理论,分析协议作用下闭环系统的系统矩阵及动态特性,取得了系统渐近实现分组一致性的充分条件,该条件与系统拓扑结构、采样周期以及控制参数有关。结论同时适用于有向拓扑与无向拓扑,最后通过仿真实例对所得分析结果进行了验证。     

不同时变延迟下的多AUV编队协调控制

针对无领航者AUV编队协调控制问题,提出了一种不同时变通信延迟下的一致性协调控制方法。首先考虑到AUV之间水下通信存在时间延迟和数据丢失的问题,利用状态反馈线性化理论处理AUV数学模型中的非线性耦合项,从而将复杂的AUV模型转换为双积分器动态模型。其次,针对不同延迟通信情况,设计了位置和速度双独立的拓扑结构以减少编队成员之间发送每个数据包中的数据量。最后,提出了无领航者的多AUV稳定条件,进而将多AUV编队控制问题看作是一致性问题,基于Laypunov-Razumikhin定理证明时延多AUV编队系统的稳定性。该控制方法不仅能够克服不同时变延迟和数据丢失对编队的影响,使所有以随机位置和速度出发的AUV的三维轨迹均能达到一致状态,同时能抑制外界干扰。仿真结果与所提控制方法理论结果一致。     

忆阻自激振荡系统的隐藏吸引子及其动力学特性

由压控忆阻替换三维自激振荡系统的线性耦合电阻,实现了一种新型的四维忆阻自激振荡系统.该系统不存在任何平衡点,但可生成周期、准周期、混沌等隐藏吸引子;特别地,当初始条件不同时,系统出现了不同拓扑结构混沌吸引子或准周期极限环与混沌吸引子的共存现象,以及准周期极限环与多种拓扑结构混沌吸引子的多吸引子现象.理论分析、数值仿真和硬件实验的结果一致,表明了所提出的忆阻自激振荡系统有着十分丰富而复杂的隐藏动力学特性.     

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.     

利用混沌信号幅值实现混沌同步

构造了一个三维混沌系统, 简要分析了该混沌系统的平衡点性质、混沌吸引子相图和Lyapunov指数等特性. 在此基础上, 利用反馈同步思想设计了一种利用混沌信号部分信息实现混沌同步的方法, 完成了三维混沌系统的同步. 该方法仅利用混沌信号幅值信息即可实现两个混沌系统的同步, 其同步建立与混沌信号的极性无关, 此特性可有效提高混沌通信质量. 通过分析系统的条件Lyapunov指数证实该方法的有效性, 数值仿真表明该方法与利用混沌信号全部信息的线性反馈同步法相比, 同步建立时间基本相同.     

磁控二氧化钛忆阻混沌系统及现场可编程逻辑门阵列硬件实现

忆阻器作为混沌系统的非线性部分,能够提高混沌系统的信号随机性和复杂度,减小系统的物理尺寸.本文将磁控二氧化钛忆阻器应用到一个新的三维自治混沌系统中,通过理论推导和数值仿真,从平衡点的稳定性、Lyapunov指数谱、庞加莱截面和功率谱等方面研究了该系统的动力学特性,并详细讨论了不同参数变化对系统相图和平衡点稳定性的影响.有趣的是,在改变参数的情况下,系统的吸引子会产生翻转、混沌程度加剧和混叠的现象,说明该忆阻混沌系统具有丰富的动力学行为.此外,本文将改进的牛顿迭代法运用于现场可编程逻辑门阵列技术中,巧妙设计出一种只迭代3次就能达到所需精度的开方运算器,从而硬件实现了该忆阻混沌系统.这突破了以往忆阻器混沌系统只能在计算机模拟平台仿真的瓶颈,为进一步研究忆阻混沌系统及其在保密通信、信息处理中的应用提供了参考.     

基于Lorenz系统的数值天气转折期预报理论探索

以Lorenz系统为研究对象,对数值天气转折期预报中的动力学特征进行了理论研究,通过对Lorenz系统平衡点稳定性的讨论,得到了区分准稳定区域和准不稳定区域的分界曲面,由此标定出准稳定区域和准不稳定区域.在准稳定区域,Lorenz曲线保持相对稳定,能够在该平衡点周围周期运动;在准不稳定区域,Lorenz曲线可能会从这个平衡点周围跃过分界曲面而进入另外一个平衡点周围,即发生突变,这是Lorenz系统的一个重要动力学特征;对数值天气转折期预报与气候突变检测、预测给出一种新理论和新方法.     

基于忆阻器的多涡卷混沌系统及其脉冲同步控制

忆阻器是一种具有记忆功能和纳米级尺寸的非线性元件,作为混沌系统的非线性部分,能够提高混沌系统的信号随机性和复杂度.本文基于增广Lü系统设计了一个三维忆阻混沌系统.仅仅通过改变系统的一个参数,该系统能产生单涡巻、双涡卷和四涡巻的混沌吸引子,说明该系统具有丰富的混沌特性.首先对该忆阻混沌系统的基本动力学行为进行了理论分析和数值仿真,如平衡点稳定性、对称性,Lyapunov指数和维数,分岔图和Poincare截面等.同时,建立了模拟该忆阻混沌系统的SPICE(simulation program with integrated circuit emphasis)电路,给出了不同参数下的电路实验相图,其仿真结果与数值分析相符,从而验证了该忆阻混沌系统的混沌产生能力.由于脉冲同步只在离散时刻传递信息,能量消耗小,同步速度快,易于实现单信道传输,因而在混沌保密通信中更具有实用性.因此,本文从最大Lyapunov指数的角度实现了该忆阻混沌系统的脉冲混沌同步,数值仿真证实了忆阻混沌系统的存在性以及脉冲同步控制的可行性,为进一步研究该忆阻混沌系统在语音保密通信和信息处理中的应用提供了实验基础.     

领导-跟随多智能体系统的滞后一致性

近年来,随着应用的需要和技术的发展,多智能体系统的一致性逐渐成为研究热点.在通信网络和工程应用中,由于信号传播的延迟效应,系统中智能体的状态可能表现为滞后一致.本文提出多智能体系统的滞后一致性概念,研究了有向网络环境下一阶领导-跟随多智能体系统的滞后一致性问题.通过设计合适的控制协议,利用矩阵理论和稳定性理论,获得该系统达到滞后一致的充分条件.数值模拟验证了理论结果的正确性.     

Consensus protocol for multi-agent continuous systems

Based on the algebraic graph theory, the networked multi-agent continuous systems are investigated. Firstly, the digraph （directed graph） represents the topology of a networked system, and then a consensus convergence criterion of system is proposed. Secondly, the issue of stability of multi-agent systems and the consensus convergence problem of information states are all analysed. Furthermore, the consensus equilibrium point of system is proved to be global and asymptotically reach the convex combination of initial states. Finally, two examples are taken to show the effectiveness of the results obtained in this paper.     

Consensus pursuit of heterogeneous multi-agent systems under a directed acyclic graph

This paper is concerned with the cooperative target pursuit problem by multiple agents based on directed acyclic graph. The target appears at a random location and moves only when sensed by the agents,and agents will pursue the target once they detect its existence. Since the ability of each agent may be different,we consider the heterogeneous multi-agent systems. According to the topology of the multi-agent systems,a novel consensus-based control law is proposed,where the target and agents are modeled as a leader and followers,respectively. Based on Mason’s rule and signal flow graph analysis,the convergence conditions are provided to show that the agents can catch the target in a finite time. Finally,simulation studies are provided to verify the effectiveness of the proposed approach.     

Consensus for second-order multi-agent systems with position sampled data

In this paper, the consensus problem with position sampled data for second-order multi-agent systems is investigated.The interaction topology among the agents is depicted by a directed graph. The full-order and reduced-order observers with position sampled data are proposed, by which two kinds of sampled data-based consensus protocols are constructed. With the provided sampled protocols, the consensus convergence analysis of a continuous-time multi-agent system is equivalently transformed into that of a discrete-time system. Then, by using matrix theory and a sampled control analysis method, some sufficient and necessary consensus conditions based on the coupling parameters, spectrum of the Laplacian matrix and sampling period are obtained. While the sampling period tends to zero, our established necessary and sufficient conditions are degenerated to the continuous-time protocol case, which are consistent with the existing result for the continuous-time case. Finally, the effectiveness of our established results is illustrated by a simple simulation example.     

Leader-following consensus of discrete-time fractional-order multi-agent systems

Leader-following consensus of fractional order multi-agent systems is investigated. The agents are considered as discrete-time fractional order integrators or fractional order double-integrators. Moreover, the interaction between the agents is described with an undirected communication graph with a fixed topology. It is shown that the leader-following consensus problem for the considered agents could be converted to the asymptotic stability analysis of a discrete-time fractional order system. Based on this idea, sufficient conditions to reach the leader-following consensus in terms of the controller parameters are extracted. This leads to an appropriate region in the controller parameters space. Numerical simulations are provided to show the performance of the proposed leader-following consensus approach.     

Consensus of heterogeneous multi-agent systems based on sampled data with a small sampling delay

In this paper, consensus problems of heterogeneous multi-agent systems based on sampled data with a small sampling delay are considered. First, a consensus protocol based on sampled data with a small sampling delay for heterogeneous multi-agent systems is proposed. Then, the algebra graph theory, the matrix method, the stability theory of linear systems, and some other techniques are employed to derive the necessary and sufficient conditions guaranteeing heterogeneous multi-agent systems to asymptotically achieve the stationary consensus. Finally, simulations are performed to demonstrate the correctness of the theoretical results.     

Finite-time consensus of second-order leader-following multi-agent systems without velocity measurements

This Letter investigates the finite-time consensus problems of second-order multi-agent systems in the presence of one and multiple leaders under a directed graph. Specifically, we propose two bounded control laws, which are independent of velocity information, to deal with the finite-time consensus tracking problem with one leader and the finite-time containment control problem with multiple leaders, respectively. With the aid of homogeneous theory, some sufficient conditions are established for the achievement of the finite-time tracking control problem of second-order multi-agent systems. Numerical examples are finally provided to illustrate the theoretical results.     

Consensus problems in multi-agent systems with double integrator model

In this paper, we consider multi-agent consensus problems in a decentralised fashion. The interconnection topology graph among the agents is switching and undirected. The agent dynamics is expressed in the form of a double integrator model. Two different cases are considered in this study. One is the leader-following case and the other is leaderless case. Based on graph theory and common Lyapunov function method, some sufficient conditions are obtained for the consensus stability of the considered systems with the neighbour-based feedback laws in both leader-following case and leaderless case respectively. Finally, two numerical examples are given to illustrate the obtained results.     

Impulsive synchronization of networked nonlinear dynamical systems

In this Letter, we investigate the problem of impulsive synchronization of networked multi-agent systems, where each agent can be modeled as an identical nonlinear dynamical system. Firstly, an impulsive control protocol is designed for network with fixed topology based on the local information of agents. Then sufficient conditions are given to guarantee the synchronization of the networked nonlinear dynamical system by using algebraic graph theory and impulsive control theory. Furthermore, how to select the discrete instants and impulsive constants is discussed. The case that the topologies of the networks are switching is also considered. Numerical simulations show the effectiveness of our theoretical 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.     

Group consensus of multi-agent systems subjected to cyber-attacks

In this paper, we investigate the group consensus for leaderless multi-agent systems. The group consensus protocol based on the position information from neighboring agents is designed. The network may be subjected to frequent cyberattacks, which is close to an actual case. The cyber-attacks are assumed to be recoverable. By utilizing algebraic graph theory, linear matrix inequality(LMI) and Lyapunov stability theory, the multi-agent systems can achieve group consensus under the proposed control protocol. The sufficient conditions of the group consensus for the multi-agent networks subjected to cyber-attacks are given. Furthermore, the results are extended to the consensus issue of multiple subgroups with cyber-attacks. Numerical simulations are performed to demonstrate the effectiveness of the theoretical results.