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134.
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. 相似文献
135.
This paper researched into some methods for generating min-weighted
rigid graphs and min-weighted persistent graphs. Rigidity and
persistence are currently used in various studies on coordination
and control of autonomous multi-agent formations. To minimize the
communication complexity of formations and reduce energy
consumption, this paper introduces the rigidity matrix and presents three
algorithms for generating min-weighted rigid and min-weighted
persistent graphs. First, the existence of a min-weighted rigid graph
is proved by using the rigidity matrix, and algorithm 1 is presented
to generate the min-weighted rigid graphs. Second, the algorithm 2
based on the rigidity matrix is presented to direct the edges of
min-weighted rigid graphs to generate min-weighted persistent
graphs. Third, the formations with range constraints are considered,
and algorithm 3 is presented to find whether a framework can form a
min-weighted persistent formation. Finally, some simulations are
given to show the efficiency of our research. 相似文献
136.
Generalized LMI-based approach to global asymptotic stability of cellular neural networks with delay
A global asymptotic stability problem of cellular neural networks with delay is investigated. A new stability condition is presented based on the Lyapunov-Krasovskii method, which is dependent on the amount of delay. A result is given in the form of a linear matrix inequality, and the admitted upper bound of the delay can be easily obtained. The time delay dependent and independent results can be obtained, which include some previously published results. A numerical example is given to show the effectiveness of the main results. 相似文献
137.
以欧拉参数为广义坐标(准坐标),相对角速度和相对移动速度为广义速率,采用Kane方程的Huston形式建立多体系统的运动力学方程。由伪上三角分解求约束Jacobi矩阵的正交补阵,约简约束力,从而将运动方程由微分几何方程(DAE)变为常微分方程(ODE),并由Gear法对ODE积分求出运动历程。最后给出一伸展臂数值分析算例。 相似文献
138.
抑制型离子色谱法测定白酒中的F-、Cl-、NO2-、H2 PO4-、NO3- 总被引:3,自引:0,他引:3
用抑制型离子色谱法测定白酒中的F^-、Cl^-、NO2^-、H2PO4^-、NO3^-。流动相为4mmol/LNa2CO3—3 mmol/LNaHCO3混合溶液,流速为1.5mL/min,进样量为0、5mL,在最佳色谱条件下,5种无机阴离子10min内实现基线分离。F^-、Cl^-、NO2^-、H2PO4^_、NO3^-的检出限分别为0、008、0.012、0、030、0.068、0.077mg/L。测定结果的相对标准偏差分别为1.86%、1.30%、2.06%、1.82%、1.50%,回收率分别为108.0%、94.0%、101.0%、98.7%、94.4%。 相似文献
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