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Time-varying formation tracking for uncertain second-order nonlinearmulti-agent systems

Mao-peng RAN, Li-hua XIE, Jun-cheng LI

《信息与电子工程前沿（英文）》 2019年第20卷第1期页码 76-87 doi: 10.1631/FITEE.1800557

摘要：

Our study is concerned with the time-varying formation tracking problem for second-order multi-agent systems that are subject to unknown nonlinear dynamics and external disturbance, and the states of the followers form a predefined time-varying formation while tracking the state of the leader. The total uncertainty lumps the unknown nonlinear dynamics and the external disturbance, and is regarded as an extended state of the agent. To estimate the total uncertainty, we design an extended state observer (ESO). Then we propose a novel ESO based time-varying formation tracking protocol. It is proved that, under the proposed protocol, the ESO estimation error and the time-varying formation tracking error can be made arbitrarily small. An application to the target enclosing problem for multiple unmanned aerial vehicles (UAVs) verifies the effectiveness and superiority of the proposed approach.

关键词： Multi-agent system Time-varying formation Formation tracking Nonlinear dynamics Extended state observer (ESO)

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A multiscale-contour-based interpolation framework for generating a time-varying quasi-dense point cloud

Chu-hua HUANG,Dong-ming LU,Chang-yu DIAO

《信息与电子工程前沿（英文）》 2016年第17卷第5期页码 422-434 doi: 10.1631/FITEE.1500316

摘要： To speed up the reconstruction of 3D dynamic scenes in an ordinary hardware platform, we propose an efficient framework to reconstruct 3D dynamic objects using a multiscale-contour-based interpolation from multi-view videos. Our framework takes full advantage of spatio-temporal-contour consistency. It exploits the property to interpolate single contours, two neighboring contours which belong to the same model, and two contours which belong to the same view at different times, corresponding to point-, contour-, and model-level interpolations, respectively. The framework formulates the interpolation of two models as point cloud transport rather than non-rigid surface deformation. Our framework speeds up the reconstruction of a dynamic scene while improving the accuracy of point-pairing which is used to perform the interpolation. We obtain a higher frame rate, spatio-temporal-coherence, and a quasi-dense point cloud sequence with color information. Experiments with real data were conducted to test the efficiency of the framework.

关键词： Multi-view video Free-viewpoint video Point-pair Multiscale-contour-based interpolation Spatio-temporal-contour Consistency Time-varying point cloud sequence

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Effects of time-varying liquid bridge forces on rheological properties, and resulting extrudability and

《结构与土木工程前沿（英文）》页码 1295-1309 doi: 10.1007/s11709-023-0999-1

摘要： Extrudability and constructability are two important, yet contradictory issues pertaining to the construction of three-dimensional (3D) printing concrete. Extrudability is easily achieved when 3D printing cement mortar has a high water content and low cohesion, but the printed structure is easily collapsible. However, a 3D printing cement mortar with a low water content and high cohesion has a relatively stable printed structure although the cement mortar might not be extrudable. This study proposes a particle-based method to simulate 3D printing mortar extrusion and construction as an overall planning tool for building design. First, a discrete element model with time-varying liquid bridge forces is developed to investigate the microscopic effects of these forces on global rheological properties. Next, a series of numerical simulations relevant to 3D printable mortar extrudability and constructability are carried out. The study demonstrates that the effects of time-varying liquid bridge forces on rheological properties and the resulting extrudability and constructability of 3D printing mortar are considerable. Furthermore, an optimized region that satisfies both the extrusion and construction requirements is provided for 3D printing industry as a reference.

关键词： particle-based simulation liquid bridge force rheological property 3D printing mortar extrudability constructability

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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

《信息与电子工程前沿（英文）》 2015年第16卷第9期页码 759-768 doi: 10.1631/FITEE.1500053

摘要： This paper investigates the trajectory tracking control for a class of nonlinear systems with timevarying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the definition of the tracking control is given. Second, the performance analysis of the closed-loop system including this unified model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the sense. The reference model adopted here is modified to be more flexible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

关键词： H∞ reference tracking Nonlinear system State feedback control Time-varying delays Unified model

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一种工业过程时变参数估计新算法——修正目标函数法

张承慧

《中国工程科学》 2001年第3卷第11期页码 54-59

摘要：

针对某些工业过程控制参数高度时变的特点和LS拟合算法存在病态估计的现象，提出了一类基于修正目标函数的时变参数估计算法，并给出递推辅助变量算法。此类算法不仅具有较强的实时跟踪能力和较高的估计精度，而且能克服病态估计，摆脱了伪随机信号在工程中带来的麻烦。新算法没有增加计算量，非常适合于工程应用，仿真及实际应用结果都证明新算法是有效的。文中给出了有关新算法的定理及其证明。

关键词：参数估计计算方法 LS算法时变系统工业生产

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时变网络的收敛性及其应用 Research Articles

王庆领

《信息与电子工程前沿（英文）》 2021年第22卷第1期页码 1-140 doi: 10.1631/FITEE.2000160

摘要：本文分析一类时变网络的收敛性。将收敛性质应用于具有未知控制方向的非线性多智能体系统协同控制问题，并提出一类新的基于Nussbaum型函数的控制策略。若时变网络是准平衡的，则所提控制策略可实现具有未知控制方向的非线性多智能体系统的收敛。所提算法的一个重要特点是，该算法可采用经典的Nussbaum型函数解决控制方向未知且不等同问题。最后，提出一个仿真案例验证所提算法的有效性。

关键词：时变网络；未知控制方向；Nussbaum型函数；准平衡条件

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Attuned design of demand response program and M-FACTS for relieving congestion in a restructured market environment

Y. HASHEMI,H. SHAYEGHI,B. HASHEMI

《能源前沿（英文）》 2015年第9卷第3期页码 282-296 doi: 10.1007/s11708-015-0366-6

摘要： This paper addresses the attuned use of multi-converter flexible alternative current transmission systems (M-FACTS) devices and demand response (DR) to perform congestion management (CM) in the deregulated environment. The strong control capability of the M-FACTS offers a great potential in solving many of the problems facing electric utilities. Besides, DR is a novel procedure that can be an effective tool for reduction of congestion. A market clearing procedure is conducted based on maximizing social welfare (SW) and congestion as network constraint is paid by using concurrently the DR and M-FACTS. A multi-objective problem (MOP) based on the sum of the payments received by the generators for changing their output, the total payment received by DR participants to reduce their load and M-FACTS cost is systematized. For the solution of this problem a nonlinear time-varying evolution (NTVE) based multi-objective particle swarm optimization (MOPSO) style is formed. Fuzzy decision-making (FDM) and technique for order preference by similarity to ideal solution (TOPSIS) approaches are employed for finding the best compromise solution from the set of Pareto-solutions obtained through multi-objective particle swarm optimization-nonlinear time-varying evolution (MOPSO-NTVE). In a real power system, Azarbaijan regional power system of Iran, comparative analysis of the results obtained from the application of the DR & unified power flow controller (UPFC) and the DR & M-FACTS are presented.

关键词： multi-converter flexible alternative current transmission systems (M-FACTS) demand response fuzzy decision making multi-objective particle swarm optimization-nonlinear time-varying evolution (MOPSO-NTVE)

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脉冲型惯性双向联想记忆神经网络新解 Research Articles

Chaouki AOUITI, Mahjouba Ben REZEG, Yang CAO

《信息与电子工程前沿（英文）》 2020年第21卷第2期页码 324-339 doi: 10.1631/FITEE.1900181

摘要：探究了具有混合时滞和脉冲效应的惯性双向联想记忆神经网络。该研究为类似系统的反周期解的存在性、唯一性和全局指数稳定性提供了新的实用条件。使用微分不等式技术证明我们的主要结果，并给出一个仿真算例证明新结果的有效性。

关键词：惯性神经网络；反周期解；全局指数稳定；脉冲；时变延迟；双向联想记忆

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不对称时变状态约束下非线性系统自适应有限时间事件触发控制 Research Article

魏岩1,罗均2,严怀成3,王曰英2

《信息与电子工程前沿（英文）》 2021年第22卷第12期页码 1551-1684 doi: 10.1631/FITEE.2000692

摘要：研究了状态约束下多输入多输出不确定非线性系统的自适应有限时间事件触发控制问题。为防止系统状态违反非对称时变约束，建立tan型非线性映射函数，将所考虑的系统转化为等价无约束系统。在虚拟控制信号中引入光滑切换函数，以避免传统有限时间动态面控制方法在零附近的奇异现象。同时，采用模糊逻辑系统补偿未知非线性函数。引入合适的事件触发机制确定何时控制律更新。利用李雅普诺夫稳定性理论分析，证明闭环系统是半全局最终有限时间稳定的，且不违反状态约束。最后，通过仿真实例验证了所设计控制方法的有效性。

关键词：事件触发控制；非线性映射；自适应模糊控制；有限时间；状态约束

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带有时变时滞的分数阶阻尼系统可控性研究 Research Articles

何彬彬1,周华成2,寇春海3

《信息与电子工程前沿（英文）》 2020年第21卷第6期页码 809-962 doi: 10.1631/FITEE.1900736

摘要：本文研究线性与非线性分数阶阻尼系统的可控性。该系统具有多重时变时滞，且时滞位于控制函数中。对于线性系统，基于Mittag-Leffler函数，定义一个可控性Gramian矩阵，该矩阵对于判定线性系统是否可控具有重要作用。此外，对于两种特殊线性系统，给出易于判别的若干等价可控性条件。对于非线性系统，在相应线性系统可控前提下，给出充分条件确保系统可控性。最后，给出两个数值示例验证结论有效性。

关键词：可控性；分数阶阻尼系统；时变时滞；Gramian矩阵

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基于非脆弱采样数据控制的非线性多智能体系统同步控制及其在电路系统中的应用 Research Article

Stephen AROCKIA SAMY1,Raja RAMACHANDRAN2,Pratap ANBALAGAN3,曹阳4

《信息与电子工程前沿（英文）》 2023年第24卷第4期页码 553-566 doi: 10.1631/FITEE.2200181

摘要：设计了一个非脆弱采样数据控制方案，用于互连耦合电路系统（多智能体系统）的渐近同步标准。该方案对所考虑的多智能体系统在时变延迟情况下作同步分析。通过构建合适的李亚普诺夫函数，得出线性矩阵不等式成立的充分条件，确保多智能体领导者和跟随者系统之间的同步。最后，给出两个数值案例，展示了该控制方案的有效性和所提李亚普诺夫函数的较低保守性。

关键词：多智能体系统；非脆弱采样数据控制；时变延迟；线性矩阵不等式；渐近同步

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Position-varying surface roughness prediction method considering compensated acceleration in milling

《机械工程前沿（英文）》 2021年第16卷第4期页码 855-867 doi: 10.1007/s11465-021-0649-z

摘要： Machined surface roughness will affect parts’ service performance. Thus, predicting it in the machining is important to avoid rejects. Surface roughness will be affected by system position dependent vibration even under constant parameter with certain toolpath processing in the finishing. Aiming at surface roughness prediction in the machining process, this paper proposes a position-varying surface roughness prediction method based on compensated acceleration by using regression analysis. To reduce the stochastic error of measuring the machined surface profile height, the surface area is repeatedly measured three times, and Pauta criterion is adopted to eliminate abnormal points. The actual vibration state at any processing position is obtained through the single-point monitoring acceleration compensation model. Seven acceleration features are extracted, and valley, which has the highest R-square proving the effectiveness of the filtering features, is selected as the input of the prediction model by mutual information coefficients. Finally, by comparing the measured and predicted surface roughness curves, they have the same trends, with the average error of 16.28% and the minimum error of 0.16%. Moreover, the prediction curve matches and agrees well with the actual surface state, which verifies the accuracy and reliability of the model.

关键词： surface roughness prediction compensated acceleration milling thin-walled workpiece

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Elastic analysis of heterogeneous thick-walled spherical pressure vessels with parabolic varying properties

Keyhan KARAMI, Majid ABEDI, Mohammad ZAMANI NEJAD, Mohammad Hassan LOTFIAN

《机械工程前沿（英文）》 2012年第7卷第4期页码 433-438 doi: 10.1007/s11465-012-0336-1

摘要：

On the basis of plane elasticity theory (PET), the displacement and stress components in a thick-walled spherical pressure vessels made of heterogeneous materials subjected to internal and external pressure is developed. The mechanical properties except the Poisson’s ratio are assumed to obey the parabolic variations throughout the thickness. Effect of material inhomogeneity on the elastic deformations and stresses is investigated. The analytical solutions and the solutions carried out through the FEM have a good agreement. The values used in this study are arbitrary chosen to demonstrate the effect of inhomogeneity on displacements, and stresses distributions.

关键词： thick-walled spherical vessels heterogeneous materials FGM FEM parabolic varying properties

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具有区域约束的一阶多智能体系统的有限时间编队控制 Research Articles

杨正全1,潘小芳1,张青1,陈增强2

《信息与电子工程前沿（英文）》 2021年第22卷第1期页码 1-140 doi: 10.1631/FITEE.2000177

摘要：研究具有区域约束的多智能体系统的有限时间编队控制问题。多智能体具有一阶动力学和一个共同目标区域。提出一种利用局部信息和交互作用的控制算法。如果通信图是无向连通的以及所设计框架是刚性的，证明该控制器可用于解决具有目标区域的编队问题。该控制算法可控制所有智能体在有限时间内进入所需区域，同时达到并保持所需队形。最后，给出一个数值例子说明算法的有效性。

关键词：有限时间编队；多智能体系统；渐进收敛；约束集；李雅普诺夫定理

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Experimental research on seismic behavior of recycled concrete frame under varying cyclic loading

SUN Yuedong, XIAO Jianzhuang, ZHOU Deyuan

《结构与土木工程前沿（英文）》 2008年第2卷第4期页码 302-308 doi: 10.1007/s11709-008-0050-6

摘要： A study is conducted on the seismic behavior of one natural concrete frame and two recycled concrete frames with 100% recycled coarse aggregate whose scales are 1:2 entirely, and a comparative study is conducted under low-reversed cyclic lateral loading and different vertical loading. This work aims to estimate the failure mechanism, hysteresis loops, displacement ductility, deterioration of strength and stiffness and energy dissipation of recycled concrete frames under low-reversed cyclic loading as well as the influence of different vertical loading. Analysis on the basis of the experiment proves that it is entirely feasible to apply recycled concrete to practical engineering for the sake of its good seismic behaviors. Theoretical base is provided for further study and practical application of recycled concrete structure.

关键词： different aggregate stiffness practical application % recycled