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Coherence analysis and Laplacian energy of recursive trees with controlled initial states Research Articles

Mei-du Hong, Wei-gang Sun, Su-yu Liu, Teng-fei Xuan,wgsun@hdu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 6,   Pages 809-962 doi: 10.1631/FITEE.1900133

Abstract: We study the of a family of recursive trees with novel features that include the initial states controlled by a parameter. The problem in a linear system with additive noises is characterized as , which is defined by a Laplacian spectrum. Based on the structures of our recursive treelike model, we obtain the recursive relationships for Laplacian eigenvalues in two successive steps and further derive the exact solutions of first- and second-order coherences, which are calculated by the sum and square sum of the reciprocal of all nonzero Laplacian eigenvalues. For a large network size , the scalings of the first- and second-order coherences are ln and $, respectively. The smaller the number of initial nodes, the better the bears. Finally, we numerically investigate the relationship between and , showing that the first- and second-order coherences increase with the increase of at approximately exponential and linear rates, respectively.

Keywords： 一致性；网络一致性；拉普拉斯能量    

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Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks Article

Hao-liang LI, Ren-nong YANG, Qiu-ni LI

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 8,   Pages 1071-1081 doi: 10.1631/FITEE.1601422

Abstract: The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.

Keywords： Multi-agent     Consensus     PID control     Linear matrix inequality    

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Impact of distance between two hubs on the network coherence of tree networks

李达权,孙伟刚,胡鸿翔

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 9,   Pages 1349-1356 doi: 10.1631/FITEE.2200400

Abstract: We study the impact of the distance between two hubs on network coherence defined by Laplacian eigenvalues. Network coherence is a measure of the extent of consensus in a linear system with additive noise. To obtain an exact determination of coherence based on the distance, we choose a family of tree networks with two hubs controlled by two parameters. Using the tree’s regular structure, we obtain analytical expressions of the coherences with regard to network parameters and the network size. We then demonstrate that a shorter distance and a larger difference in the degrees of the two hubs lead to a higher coherence. With the same network size and distance, the best coherence occurs in the tree with the largest difference in the hub’s degrees. Finally, we establish a correlation between network coherence and average path length and find that they behave linearly.

Keywords： Consensus     Coherence     Distance     Average path length    

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Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision Article

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, Yao-hong QU

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 7,   Pages 968-977 doi: 10.1631/FITEE.1600004

Abstract: We propose a formation control strategy for multiple unmanned aerial vehicles (multi-UAV) based on second-order consensus, by introducing position and velocity coordination variables through neighbor-to-neighbor interaction to generate steering commands. A cooperative guidance algorithm and a cooperative control algorithm are proposed together to maintain a specified geometric configuration, managing the position and attitude respectively. With the whole system composed of the six-degree-of-freedom UAV model, the cooperative guidance algorithm, and the cooperative control algorithm, the formation control strategy is a closed-loop one and with full states. The cooperative guidance law is a second-order consensus algorithm, providing the desired acceleration, pitch rate, and heading rate. Longitudinal and lateral motions are jointly considered, and the cooperative control law is designed by deducing state equations. Closed-loop stability of the formation is analyzed, and a necessary and sufficient condition is provided. Measurement errors in position data are suppressed by synchronization technology to improve the control precision. In the simulation, three-dimensional formation flight demonstrates the feasibility and effectiveness of the formation control strategy.

Keywords： Multiple unmanned aerial vehicles     Consensus     Cooperative guidance     Cooperative control     Synchronization technology    

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Bipartite asynchronous impulsive tracking consensus for multi-agent systems Research Article

Lingzhong ZHANG, Yuanyuan LI, Jungang LOU, Jianquan LU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 10,   Pages 1522-1532 doi: 10.1631/FITEE.2100122

Abstract:

In this study, we discuss how (MASs) with a leader can achieve distributed using control strategies. The proposed control approach does not require the impulse to occur simultaneously for all agents. The communication links between neighboring nodes of MASs are antagonistic. When the leader’s control input is non-zero, sufficient conditions are obtained to achieve bipartite tracking in closed-loop MASs. More extensive ranges of effects are discussed, and the designed controller’s feedback can effectively work against adverse impulsive permutation. Simple algebraic conditions for estimating the impulsive gain boundary and interval are presented. Theoretical results are demonstrated with illustrative examples.

Keywords： Bipartite tracking     Multi-agent systems     Asynchronous impulsive     Consensus    

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Low powered blockchain consensus protocols based on consistent hash Research Article

Lei Yu, Xiao-fang Zhao, Yan Jin, Heng-yi Cai, Bo Wei, Bin Hu,yulei@ncic.ac.cn

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 10,   Pages 1361-1377 doi: 10.1631/FITEE.1800119

Abstract: Current s have a triangle of contradictions in aspects of decentralization, security, and energy con-sumption, and cannot be synchronously optimized. We describe a design of two new s, called “CHB-consensus” and “CHBD-consensus,” based on a algorithm. Honest miners can fairly gain the opportunity to create blocks. They do not consume any extra computational power resources when creating new blocks, and such blocks can obtain the whole network to confirm consensus with fairness. However, malicious miners have to pay massive computational power resources for attacking the new block creation privilege or double-spending. networks formed by CHB-consensus and CHBD-consensus are based on the same security assumption as that in Bitcoin systems, so they save a huge amount of power without sacrificing decentralization or security. We analyze possible attacks and give a rigorous but adjustable validation strategy. CHB-consensus and CHBD-consensus introduce a certification authority (CA) system, which does not have special management or control rights over networks or data structures, but carries the risk of privacy breaches depending on credibility and reliability of the CA system. Here, we analyze the robustness and energy consumption of CHB-consensus and CHBD-consensus, and demonstrate their advantages through theoretical derivation.

Keywords： 区块链；共识协议；一致性哈希；低能耗；去中心化    

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Consensus of multi-agent systems with dynamic join characteristics under impulsive control Research Articles

Xiang Hu, Zufan Zhang, Chuandong Li,huyangyu0203@163.com,zhangzf@cqupt.edu.cn,cdli@swu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000062

Abstract: We study how to achieve the of a whole after adding some new agent groups dynamically in the original . We analyze the feasibility of dynamically adding agent groups under different forms of network topologies that are currently common, and obtain four feasible schemes in theory, including one scheme that is the best in actual industrial production. Then, we carry out dynamic modeling of s for the best scheme. Impulsive control theory and Lyapunov stability theory are used to analyze the conditions so that the whole with can achieve . Finally, we provide a numerical example to verify the practicality and validity of the theory

Keywords： Multi-agent system     Network topology     Impulsive input     Dynamic join characteristics     State consensus    

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Areliable power management scheme for consistent hashing based distributed key value storage systems Article

Nan-nan ZHAO,Ji-guang WAN,Jun WANG,Chang-sheng XIE

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 10,   Pages 994-1007 doi: 10.1631/FITEE.1601162

Abstract: Distributed key value storage systems are among the most important types of distributed storage systems currently deployed in data centers. Nowadays, enterprise data centers are facing growing pressure in reducing their power consumption. In this paper, we propose GreenCHT, a reliable power management scheme for consistent hashing based distributed key value storage systems. It consists of a multi-tier replication scheme, a reliable distributed log store, and a predictive power mode scheduler (PMS). Instead of randomly placing replicas of each object on a number of nodes in the consistent hash ring, we arrange the replicas of objects on nonoverlapping tiers of nodes in the ring. This allows the system to fall in various power modes by powering down subsets of servers while not violating data availability. The predictive PMS predicts workloads and adapts to load fluctuation. It cooperates with the multi-tier replication strategy to provide power proportionality for the system. To ensure that the reliability of the system is maintained when replicas are powered down, we distribute the writes to standby replicas to active servers, which ensures failure tolerance of the system. GreenCHT is implemented based on Sheepdog, a distributed key value storage system that uses consistent hashing as an underlying distributed hash table. By replaying 12 typical real workload traces collected from Microsoft, the evaluation results show that GreenCHT can provide significant power savings while maintaining a desired performance. We observe that GreenCHT can reduce power consumption by up to 35%–61%.

Keywords： Consistent hash table (CHT)     Replication     Power management     Key value storage system     Reliability    

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Finite-time leader-follower consensus of a discrete-time system via sliding mode control Research Article

Ruizhuo SONG, Shi XING, Zhen XU

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1057-1068 doi: 10.1631/FITEE.2100565

Abstract: In this study, we solve the problem of discrete-time second-order (MASs) under the constraints of external disturbances. First, a novel consensus scheme is designed using a novel theory. Our adaptive controller is designed using the traditional sliding mode reaching law, and its advantages are chatter reduction and invariance to disturbances. In addition, the stability is demonstrated by presenting a discrete Lyapunov function. Finally, simulation results are presented to prove the validity of our theoretical results.

Keywords： Finite-time     Leader-follower consensus     Adaptive sliding mode control     Multi-agent systems    

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Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm over a wireless sensor network Research Articles

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000206

Abstract: This paper presents the design of a new event-triggered Kalman consensus filter (ET-KCF) algorithm for use over a wireless sensor network (WSN). This algorithm is based on information freshness, which is calculated as the of the sampled data. The proposed algorithm integrates the traditional , information freshness calculation method, and Kalman consensus filter (KCF) algorithm to estimate the concentrations of pollutants in the aircraft more efficiently. The proposed method also considers the influence of data packet loss and the aircraft’s loss of communication path over the WSN, and presents an AoI-freshness-based threshold selection method for the ET-KCF algorithm, which compares the packet AoI to the minimum average AoI of the system. This method can obviously reduce the energy consumption because the transmission of expired information is reduced. Finally, the convergence of the algorithm is proved using the Lyapunov stability theory and matrix theory. Simulation results show that this algorithm has better fault tolerance compared to the existing KCF and lower power consumption than other ET-KCFs.

Keywords： Distributed Kalman consensus filter (KCF)     Event-triggered mechanism     Age of information (AoI)     Stability analysis     Energy optimization    

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Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game Research Article

Hongyang LI, Qinglai WEI

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 7,   Pages 1010-1019 doi: 10.1631/FITEE.2200010

Abstract: This paper presents a novel method for with . The multi-agent game theory is introduced to transform the problem into a multi-agent . Then, the Nash equilibrium can be achieved by solving the coupled Hamilton–Jacobi–Bellman (HJB) equations with nonquadratic input energy terms. A novel method is presented to obtain the Nash equilibrium solution without the system models, and the critic neural networks (NNs) and actor NNs are introduced to implement the presented method. Theoretical analysis is provided, which shows that the iterative control laws converge to the Nash equilibrium. Simulation results show the good performance of the presented method.

Keywords： Optimal synchronization control     Multi-agent systems     Nonzero-sum game     Adaptive dynamic programming     Input saturation     Off-policy reinforcement learning     Policy iteration    

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Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach Research Articles

Jiaqi Li, Qingling Wang, Yanxu Su, Changyin Sun,jiaqil2018@seu.edu.cn,qlwang@seu.edu.cn,yanxu.su@seu.edu.cn,cysun@seu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 8,   Pages 1068-1079 doi: 10.1631/FITEE.2000182

Abstract: This study investigates the problem of a nonlinear discrete-time multi-agent system (MAS) under bounded additive disturbances. We propose a self-triggered robust algorithm. A new cost function is constructed and MAS is coupled through this function. Based on the proposed cost function, a self-triggered mechanism is adopted to reduce the communication load. Furthermore, to overcome additive disturbances, a local minimum– maximum optimization problem under the worst-case scenario is solved iteratively by the model predictive controller of each agent. Sufficient conditions are provided to guarantee the iterative feasibility of the algorithm and the of the closed-loop MAS. For each agent, we provide a concrete form of compatibility constraint and a error terminal region. Numerical examples are provided to illustrate the effectiveness and correctness of the proposed algorithm.

Keywords： 一致性；自触发控制；分布式模型预测控制    

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Decentralized multi-agent reinforcement learning with networked agents: recent advances Review Article

Kaiqing Zhang, Zhuoran Yang, Tamer Başar,kzhang66@illinois.edu,zy6@princeton.edu,basar1@illinois.edu

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 6,   Pages 802-814 doi: 10.1631/FITEE.1900661

Abstract: Multi-agent (MARL) has long been a significant research topic in both machine learning and control systems. Recent development of (single-agent) deep has created a resurgence of interest in developing new MARL algorithms, especially those founded on theoretical analysis. In this paper, we review recent advances on a sub-area of this topic: decentralized MARL with networked agents. In this scenario, multiple agents perform sequential decision-making in a common environment, and without the coordination of any central controller, while being allowed to exchange information with their neighbors over a communication network. Such a setting finds broad applications in the control and operation of robots, unmanned vehicles, mobile sensor networks, and the smart grid. This review covers several of our research endeavors in this direction, as well as progress made by other researchers along the line. We hope that this review promotes additional research efforts in this exciting yet challenging area.

Keywords： 强化学习；多智能体系统；网络系统；一致性优化；分布式优化；博弈论    

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Study on Data Locality and Its Optimization Technologies in Multiprocessor Systems

Yang Xuejun,Dai Huadong,Xia Jun

Strategic Study of CAE 2002, Volume 4, Issue 5,   Pages 44-52

Abstract:

As one of the most important issues in multiprocessor systems, data locality is a main direction of studies on such systems. Combining the recent research achievements by the authors with the current state of studies in this field, a systematic discussion on data locality and its optimization technologies in multiprocessor systems was brought forth. Driven by the deficiency of current locality measurement models, an enhanced model suitable for hierarchy parallel computer architectures was proposed. Besides, from the viewpoint of static locality optimization technologies, a data transformation framework based on projection and delaminating policy was designed. While on the side of dynamic locality optimization technologies, a dynamic page migration mechanism based on instantaneous access information was implemented. More discussion about both static and dynamic optimization policies was presented in this paper. In addition, in-depth investigation on memory consistency model ,which raised as a key problem in exploiting locality optimization, was also stressed and a new model centered on operating system——thread consistency model was put forward.

Keywords： computer     multiprocessorsystem     data locality     locality measurement model     data transformation framework     page migration     thread consistency model    

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Consistency of MGEX Orbit and Clock Products Article

Peter Steigenberger, Oliver Montenbruck

Engineering 2020, Volume 6, Issue 8,   Pages 898-903 doi: 10.1016/j.eng.2019.12.005

Abstract:

The analysis centers of the Multi-GNSS Pilot Project of the International GNSS Service provide orbit and clock products for the global navigation satellite systems (GNSSs) Global Positioning System (GPS), GLONASS, Galileo, and BeiDou, as well as for the Japanese regional Quasi-Zenith Satellite System (QZSS). Due to improved solar radiation pressure modeling and other more sophisticated models, the consistency of these products has improved in recent years. The current orbit consistency between different analysis centers is on the level of a few centimeters for GPS, around one decimeter for GLONASS and Galileo, a few decimeters for BeiDou-2, and several decimeters for QZSS. The clock consistency is about 2 cm for GPS, 5 cm for GLONASS and Galileo, and 10 cm for BeiDou-2. In terms of carrier phase modeling error for precise point positioning, the various products exhibit consistencies of 2–3 cm for GPS, 6–14 cm for GLONASS, 3–10 cm for Galileo, and 10–17 cm for BeiDou-2.

Keywords： Global navigation satellite system     International GNSS Service     Multi-GNSS Pilot Project     Precise orbit determination     Satellite clock parameters    

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Title Author Date Type Operation

Coherence analysis and Laplacian energy of recursive trees with controlled initial states

Mei-du Hong, Wei-gang Sun, Su-yu Liu, Teng-fei Xuan,wgsun@hdu.edu.cn

Journal Article

Designing a novel consensus protocol formultiagent systemswith general dynamics under directed networks

Hao-liang LI, Ren-nong YANG, Qiu-ni LI

Journal Article

Impact of distance between two hubs on the network coherence of tree networks

李达权,孙伟刚,胡鸿翔

Journal Article

Consensus-based three-dimensionalmulti-UAV formation control strategy with high precision

Mao-de YAN, Xu ZHU, Xun-xun ZHANG, Yao-hong QU

Journal Article

Bipartite asynchronous impulsive tracking consensus for multi-agent systems

Lingzhong ZHANG, Yuanyuan LI, Jungang LOU, Jianquan LU

Journal Article

Low powered blockchain consensus protocols based on consistent hash

Lei Yu, Xiao-fang Zhao, Yan Jin, Heng-yi Cai, Bo Wei, Bin Hu,yulei@ncic.ac.cn

Journal Article

Consensus of multi-agent systems with dynamic join characteristics under impulsive control

Xiang Hu, Zufan Zhang, Chuandong Li,huyangyu0203@163.com,zhangzf@cqupt.edu.cn,cdli@swu.edu.cn

Journal Article

Areliable power management scheme for consistent hashing based distributed key value storage systems

Nan-nan ZHAO,Ji-guang WAN,Jun WANG,Chang-sheng XIE

Journal Article

Finite-time leader-follower consensus of a discrete-time system via sliding mode control

Ruizhuo SONG, Shi XING, Zhen XU

Journal Article

Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm over a wireless sensor network

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Journal Article

Optimal synchronization control for multi-agent systems with input saturation: a nonzero-sum game

Hongyang LI, Qinglai WEI

Journal Article

Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach

Jiaqi Li, Qingling Wang, Yanxu Su, Changyin Sun,jiaqil2018@seu.edu.cn,qlwang@seu.edu.cn,yanxu.su@seu.edu.cn,cysun@seu.edu.cn

Journal Article

Decentralized multi-agent reinforcement learning with networked agents: recent advances

Kaiqing Zhang, Zhuoran Yang, Tamer Başar,kzhang66@illinois.edu,zy6@princeton.edu,basar1@illinois.edu

Journal Article

Study on Data Locality and Its Optimization Technologies in Multiprocessor Systems

Yang Xuejun,Dai Huadong,Xia Jun

Journal Article

Consistency of MGEX Orbit and Clock Products

Peter Steigenberger, Oliver Montenbruck

Journal Article