带有攻击角约束的多导弹协同制导律

针对带有攻击角约束的多导弹同时攻击机动目标问题,提出了一种带有攻击角约束的协同制导律。首先基于平面内的导弹-目标相对运动方程,建立了带有攻击角约束的协同制导模型;其次,把协同制导律的设计过程分离为两个部分:一是基于图论的有关内容,运用有限时间一致性理论设计沿着视线方向上的加速度指令来保证所有导弹与目标的相对距离在有限时间内到达一致,进而保证所有的导弹同时击中机动目标;二是利用非齐次干扰观测器对机动目标的加速度进行估计,并运用滑模控制设计视线法向上的加速度指令来保证每枚导弹与目标间的视线角速率收敛到零和视线角收敛到期望的终端视线角,即每枚导弹以期望的终端视线角成功击中目标;最后,对三枚导弹同时打击同一机动目标的情况进行仿真,仿真结果表明本文设计的带有攻击角约束的协同制导律的有效性和正确性。     

Distributed event-triggered consensus tracking of second-order multi-agent systems with a virtual leader

This paper investigates the consensus tracking problems of second-order multi-agent systems with a virtual leader via event-triggered control. A novel distributed event-triggered transmission scheme is proposed, which is intermittently examined at constant sampling instants. Only partial neighbor information and local measurements are required for event detection. Then the corresponding event-triggered consensus tracking protocol is presented to guarantee second-order multi-agent systems to achieve consensus tracking. Numerical simulations are given to illustrate the effectiveness of the proposed strategy.     

基于间隔迁移的多视角支持向量机

针对同一对象从不同途径或不同层面获得的特征数据被称为多视角数据. 多视角学习是利用事物的多视角数据进行建模求解的一种新的机器学习方法. 大量研究表明, 多视角数据共同学习可以显著提高模型的学习效果, 因此许多相关模型及算法被提出. 多视角学习一般需遵循一 致性原则和互补性原则. 基于一致性原则,Farquhar 等人成功地将支持向量机(Support Vector Machine, SVM)和核典型相关分析(Kernel Canonical Correlation Analysis, KCCA)整合成一个单独的优化问题, 提出SVM-2K模型. 但是, SVM-2K模型并未充分利用多视角数据间的互补信息. 因此, 在SVM-2K模型的基础之上, 提出了基于间隔迁移的多视角支持向量机模型(Margin transfer-based multi-view support vector machine, M^2SVM), 该模型同时满足多视角学习的一致性和互补 性两原则. 进一步地, 从一致性的角度对其进行理论分析, 并 与SVM-2K比较, 揭示了 M^2SVM 比SVM-2K 更为灵活. 最后, 在大量的多视角数据集上验证了M^2SVM模型的有效性.     

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.     

H∞ consensus control of a class of second-order multi-agent systems without relative velocity measurement

This paper studies consensus control problems for a class of second-order multi-agent systems without relative velocity measurement. Some dynamic neighbour-based rules are adopted for the agents in the presence of external disturbances. A sufficient condition is derived to make all agents achieve consensus while satisfying desired H_∞ performance. Finally, numerical simulations are provided to show the effectiveness of our theoretical results.     

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.     

采用电活性标记物N-(2-乙基-二茂铁)马来酰亚胺检测与表面固定的 一致性双链DNA特异性作用的p53蛋白质

建立了电化学检测表面固定捕获的野生型p53蛋白质的方法. 首先在金电极表面形成巯基化的单链DNA探针/己硫醇(HT)混合自组装膜, 随后巯基化的单链DNA探针与溶液中序列匹配的靶点DNA杂交, 所形成的一致性双链DNA捕获溶液中的野生型p53蛋白质. p53分子表面的半胱氨酸残基采用巯基特异性试剂N-(2-乙基-二茂铁)马来酰亚胺(Fc-Mi)进行衍生. 通过检测二茂铁的电化学信号来指示p53与一致性双链DNA之间的特异性相互作用. p53蛋白质与双链DNA的键合程度取决于双链DNA的序列. 该方法可检测的p53最低浓度为1.33 nmol•L－1.     

A new approach using multiple Lyapunov functions for bipartite consensus of multi-agents over directed switching signed graphs

This paper investigates a new approach for the bipartite (cooperative–competitive) consensus control design for a class of nonlinear agents with Lipschitz dynamics under directed switching topologies. The design technique utilizes multiple Lyapunov functions (MLFs), inequality-based criteria, and average dwell-time (ADT) for switching instances to develop relaxed and less conservative constraints. The results are derived for structurally balanced signed graphs which switch among different configurations with persistent or frequent directed spanning tree (DST), rooted at the leader node. Further, results are also investigated for the dynamic leader agent with non-zero norm-bounded control input. To the best of our knowledge, bipartite consensus of a generic form of Lipschitz nonlinear agents under directed switching topologies has been addressed for the first time. In addition, advanced concepts of MLFs and ADT are used for dealing with switching among signed communication topologies. Numerical simulations to validate the proposed theoretical analysis are provided for different conditions.     

基于区间意见的非对称最小成本共识决策问题研究

针对已有共识模型大多是基于精确意见且未考虑决策者意见调整方向约束的不足,引入区间型意见,从最优化角度研究了非对称调整成本下的群决策共识模型。首先,基于区间意见构建了非对称最小成本共识模型。其次,考虑到决策者对不同共识水平的实际需求,通过引入软共识测度,提出了基于区间长度的决策者权重分配方法,据此构建了基于区间意见的非对称最小成本软共识模型。最后,通过政府与污染企业之间关于污染减排决策的实例验证了模型的有效性,并进行了灵敏度分析与比较研究。结果表明:(1)同精确值信息相比,区间意见能够缩减共识成本;(2)与对称成本共识模型相比,非对称调整成本的总共识成本不会随着单位调整成本的增加而无限增大。     

知识共享/转移背景下的动态群体决策绩效研究

现有的动态群体决策实践经常存在决策速度慢、观点不收敛的问题。本研究融入知识共享/转移的因素,从决策动态交互的过程视角,探讨决策绩效(一致性及决策时间)的改善机理、影响因素,从而提高相应绩效指标。研究通过构建决策过程模型,证明了知识共享/转移考虑下一致性序列在交互过程中的收敛性。同时,通过定性模拟判断知识共享/转移对决策时间的影响,以最小化决策时间为优化目标,搜索知识共享/转移水平,给出了个体知识差异构成的多维空间下最优的行动方案。