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This paper considers the distributed robust consensus problem of multi-agent systems with Lipschitz nonlinear dynamics and subject to different matching uncertainties. Due to the existence of nonidentical uncertainties, the multi-agent systems discussed in this paper are essentially heterogeneous. For the case where the communication graph is undirected and connected, based on the local state information...
In this paper, autonomous target localization is achieved on quadrotor helicopter, with the use of 2D laser rangefinder and fixed monocular camera. Color-featured target is located in 3D space without prior knowledge of its size or shape. Coordinate systems of camera and laser rangefinder are integrated to establish body-fixed reference coordinate system for both localization and flight control. Rotation...
Time synchronization is very important for a Time Division Multiple Access (TDMA) Wireless Sensor Networks (WSNs). In this paper, we introduce a new method of time synchronization for WSNs based on the simulated annealing algorithm which is endowed with the search process of a time-varying and can effectively avoid falling into the local minimum and finally tends to the global optimum. Errors between...
Sensor localization is a basic and important task of wireless sensor networks, and abundant localization algorithms have been proposed based on various ranging techniques, including time-of-arrival (TOA), time-difference-of-arrival (TDOA), received signal strength (RSS), angle-of-arrival (AOA) and etc. The accuracy of these ranging techniques rely on the line-of-sight (LOS) propagation of signals,...
This paper considers a leaderless consensus problem for multi-agent system with inherently nonlinear dynamics under directed graph. To provide an effective perspective to handle the consensus problem, an innovative concept about the edge Laplacian is developed for directed graph. The algebraic properties of the graph Laplacian and edge Laplacian bare a lot in common, and the edge Laplacian has much...
This paper presents the routing recovery problem of mobile sink wireless sensor networks (mWSNs), which is caused by the sink mobility. We propose an immune orthogonal learning particle swarm optimization algorithm (IOLPSOA) based routing recovery method to build and optimize the alternative path, in order to repair the broken path and maintain the available route from the source nodes to the mobile...
The stability analysis problem is investigated for networked predictive control systems with varying controller gains in this paper. By introducing a new auxiliary variable and analyzing the deep relationship between two consecutive sampling points, the NCS is transformed into a coupled switched system. The sufficient condition guaranteeing the asymptotical stability of the coupled switched system...
This paper is concerned with fuzzy-model based stabilization of nonlinear networked control systems (NCSs) with time-varying transmission delays and transmission intervals based on a random-delay approach. The real-time distribution of input delays resulting from transmission delays and intervals is modeled as a dependent and nonidentically distributed process. Then a randomly switched Takagi-Sugeno...
This paper deals with the H∞ control for a class of continuous-time networked control systems based on continuous-time Markov chains. Firstly, with controller switching strategy, a class of linear continuous-time networked control systems are modeled as continuous-time Markov jump linear systems. Secondly, using the Lyapunov functional approach, sufficient conditions on the existence of an H∞ controller...
The Boolean network is a powerful tool in describing, analyzing, and simulating the cellular networks. In this paper, we investigate stability of given subsets (or set stability) for Boolean networks which includes synchronization problem as a special case. First of all, based on the semi-tensor product of matrices and the algebraic expression of Boolean networks, we derive some necessary and sufficient...
This paper processes the formation problem of multiple agents by assuming multiple virtual leaders. The basic idea is stated as follows: every dynamic agent is equipped with a virtual leader, and the agents reach consensus with their virtual leaders on the velocity and position through assigning stable control laws. Therefore, to solve the formation problem we just need to preset the trajectories...
This paper is concerned with the observer-based H∞ control for continuous-time networked control systems (NCSs) considering packet dropouts and network-induced delays. Under consideration of packet dropouts and network-induced delays in Sensor-to-Controller (S-C) channel and network-induced delays in Controller-to-Actuator (C-A) channel, by taking the non-uniform distribution characteristic of measurement...
Characteristic modeling based all coefficients adaptive control was proposed by Academician Wu Hong-Xin in 1980s. The theory is motivated and gradually enhanced to completion in the past three decades. This theory and method have already been applied successfully to the reentry adaptive control of manned spaceships, automatic rendezvous and docking between Shenzhou-8, Shenzhou-9 and Tiangong-1, etc...
In this paper, we consider the control problem of the hypersonic flight vehicle analogy X20. Through a careful analysis of the relationship between the aerodynamic coefficients and their independent variables of height, Mach number, attack angle, sideslip angle and rudder angel, we fit the aerodynamic coefficients according to the independent variables and give their analytic expressions. And we establish...
This paper focuses on the adaptive tracking problem for air-breathing hypersonic vehicles (AHVs) subject to aerodynamic uncertainties and unknown disturbances caused by modeling errors. Motivated by the nonlinear disturbance observer-based control approach (NDOBC), the parameter uncertainties are merged into the disturbances. A control law based on the tracking control method originally proposed by...
In order to deal with the inherent characteristics of an air-breathing hypersonic vehicle (AHV) including high nonlinearity, strong coupling, fast-time variability, under-actuation, parameter perturbations as well as uncertainties, the cascade decoupling technique based on the active disturbance rejection control (ADRC) is applied to design a tracking controller during cruise. The tracking strategy...
In this paper, we address attitude consensus problem of multiple spacecraft in the presence of dynamic uncertainties and bounded constant time delays. The agents are assumed to interact on strongly connected graphs. The consensus objective is achieved via the construction of the reference systems, where the quaternion-based nonlinear inner coupling of the attitudes is utilized as the reference control...
This paper reviews research results on flight control of air-breathing hypersonic cruise vehicles. The results are classified according to different flight control strategies. Their main ideas and drawbacks are analyzed. Finally, some suggestions on future work based on the analysis are pointed out.
Equipment is the foundation and precondition of the survival of the enterprises, the advanced level and the update problem of which directly affect the enterprise's survival and development, which also are paid more and more attention. Based on network model, this paper studied the update problem of the construction equipment, through changing the equipment update problem to the shortest path problem...
An improved harmony search algorithm is presented for solving continuous optimization problems in this paper. In the proposed algorithm, an elimination principle is developed for choosing from the harmony memory, so that the harmonies with better fitness will have more opportunities to be selected in generating new harmonies. Two key control parameters, pitch adjustment rate (PAR) and bandwidth distance...
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