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Input-Bounded Displacement-Style Formation Control

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2025年

作者： Kim, Yeong-Ung Ahn, Hyo-Sung Lim, Young-Hun Gwangju Inst Sci & Technol GIST Dept Mech & Robot Engn Gwangju South Korea Gyeongsang Natl Univ Dept Elect Engn Jinju South Korea

This article introduces input-bounded displacement-style formation control methods for multiagent systems modeled by single- and double-integrator dynamics with input saturation. Displacement-based formation control, which relies on relative positions between agents, is extended by incorporating orientation estimation. The proposed control laws ensure that the agents achieve the desired formations while maintaining bounded inputs to avoid input saturation. Under the condition of a strongly connected and detailed balanced graph, we prove that the multiagent systems globally asymptotically converge to the desired formation up to the translation and rotation with bounded input when the orientation estimations reach consensus. The simulation results of the formation control have been provided to validate the theoretical results.

关键词： distributed algorithm formation control Lyapunov stability multiagent system

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An O(1/k) algorithm for multi-agent optimization with inequality constraints

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NEUROCOMPUTING 2025年 632卷

作者： Li, Peng Zhao, Yiyi Hu, Jiangping Ji, Jiangtao Henan Univ Sci & Technol Coll Agr Equipment Engn Luoyang 471003 Henan Peoples R China Southwestern Univ Finance & Econ Fac Business Adm Sch Business Adm Chengdu 611130 Sichuan Peoples R China Southwestern Univ Finance & Econ Lab Philosophy & Social Sci Minist Educ Chengdu 611130 Sichuan Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Sichuan Peoples R China Univ Elect Sci & Technol China Yangtze Delta Reg Inst HuZhou Huzhou 313001 Zhejiang Peoples R China

This paper presents a discrete-time solution algorithm fora constrained multi-agent optimization problem with inequality constraints. Its aim is to seek a solution to minimize the sum of all the agents' objective functions while satisfy each agent's local set constraint and nonlinear inequality constraints. Assume that agents' local constraints are heterogeneous and all the objective functions are convex and continuous, but they may not be differentiable. Similar to the distributed alternating direction method of multipliers (ADMM) algorithm, the designed algorithm can solve the multi-agent optimization problem in a distributed manner and has a fast O(1/k) convergence rate. Moreover, it can deal with the nonlinear constraints, which cannot be handled by distributed ADMM algorithm. Finally, the proposed algorithm is applied to solve a robust linear regression problem, a lasso problem and a decentralized joint flow and power control problem with inequality constraints, respectively and thus the effectiveness of the proposed algorithm is verified.

关键词： distributed algorithm Non-smooth optimization Heterogeneous set constraints Inequality constraints Convergence rate

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Coordinate-Free distributed Localization and Circumnavigation for Nonholonomic Vehicles Without Position Information

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第5期27卷 2523-2534页

作者： Zou, Yao Yang, Wenfu He, Wei Fu, Qiang Li, Qing Silvestre, Carlos Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Minist Educ Key Lab Knowledge Automat Ind Processes Beijing 100083 Peoples R China Univ Macau Fac Sci & Technol Dept Elect & Comp Engn Macau 999078 Peoples R China Univ Lisbon Inst Super Tecn P-1049001 Lisbon Portugal

This article studies the localization and circumnavigation problem concerned with a cluster of nonholonomic vehicles independently of a uniform global coordinate. Particularly, the clustered vehicles collaboratively locate an unknown target and then circumnavigate it isometrically with desired distance and velocity. However, the vehicles have no access to any position information, including their own absolute positions and others' relative positions. Instead, they are capable of measuring relative bearings only with respect to their neighbors within their local coordinates. Different local coordinates are not necessarily aligned. Moreover, only some of the vehicles can measure relative bearings with respect to the target. For the solution to the concerned localization and circumnavigation problem, a coordinate-free distributed algorithm composed by two parts is proposed. To be specific, the first distributed localization part guarantees that the vehicles accurately estimate the relative positions with respect to the target and neighbors given a persistently exciting condition. And the second distributed circumnavigation part further guarantees that the vehicles move around the target estimation isometrically with the desired distance and velocity. Also, the necessary persistently exciting condition is shown to be met. Finally, simulation and experiment are both given to confirm the effectiveness of the proposed distributed algorithm.

关键词： Bearing measurement circumnavigation distributed algorithm localization nonholonomic vehicles

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distributed Consensus for Blockchains in Internet-of-Things Networks

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Tsinghua Science and Technology 2022年第5期27卷 817-831页

作者： Li Yang Yifei Zou Minghui Xu Yicheng Xu Dongxiao Yu Xiuzhen Cheng School of Computer Science and Technology Shandong UniversityQingdao 266237China Shenzhen Institute of Advanced Technology Chinese Academy of SciencesShenzhen 518055China

In recent years,due to the wide implementation of mobile agents,the Internet-of-Things(IoT) networks have been applied in several real-life scenarios,servicing applications in the areas of public safety,proximity-based services,and fog ***,when more complex tasks are processed in IoT networks,demands on identity authentication,certifiable traceability,and privacy protection for services in IoT networks *** a blockchain system in IoT networks can greatly satisfy such ***,the blockchain building in IoT brings about new challenges compared with that in the traditional full-blown Internet with reliable transmissions,especially in terms of achieving consensus on each block in complex wireless environments,which directly motivates our *** this study,we fully considered the challenges of achieving a consensus in a blockchain system in IoT networks,including the negative impacts caused by contention and interference in wireless channel,and the lack of reliable transmissions and prior network *** proposing a distributed consensus algorithm for blockchains on multi-hop IoT networks,we showed that it is possible to directly reach a consensus for blockchains in IoT networks,without relying on any additional network layers or protocols to provide reliable and ordered *** our theoretical analysis,we showed that our consensus algorithm is asymptotically optimal on time complexity and is energy *** extensive simulation results also validate our conclusions in the theoretical analysis.

关键词： distributed algorithm consensus in blockchain Internet-of-Things(IoT) SINR model

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Delay-QoS-Aware Local-Information-Driven Multiple Access for MTC Networks

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IEEE TRANSACTIONS ON MOBILE COMPUTING 2024年第5期23卷 5848-5862页

作者： Zhao, Linlin Chi, Xuefen Ma, Shaodan Jilin Univ Dept Commun Engn Changchun 130012 Peoples R China Jilin Univ Yibin Inst Yibin 644000 Peoples R China Univ Macau Dept Elect & Comp Engn State Key Lab Internet Things Smart City Taipa 999078 Macao Peoples R China

Carrier sense multiple access (CSMA) provides a feasible way to support machine type communications (MTC). However, in CSMA how to guarantee the diverse delay QoS efficiently is unsolved because the relationship between the back-off factor and delay QoS is unexploited. In this paper, we propose a new CSMA-type scheme named QoS-aware Local-Information-driven Multiple Access (LIMA) to handle this problem. The LIMA is formulated as a throughput maximization problem subject to the statistical delay QoS including the delay bound and delay bound violation probability. The diverse statistical delay QoS constraints are decomposed constraint into a series of the parameter adjusting period (PAP)-progressive QoS constraints in the time scale. Based on the effective capacity, the relationship between the back-off factor (defined as the average of back-off duration) and statistical delay QoS is studied. Then, each PAP-progressive QoS constraint is explicitly expressed in a simple form. Finally, a distributed algorithm is developed to find the optimal back-off factors based on local information. The global optimality of the proposed solution is theoretically proved. The salient feature of LIMA is that it can satisfy the diverse delay QoS requirements in a distributed way without signaling overhead for traffic information of other devises and scheduling information from the coordinator/access point (AP).

关键词： Quality of service Delays Multiaccess communication Markov processes Throughput Mobile computing Heuristic algorithms Carrier sense multiple access (CSMA) delay quality-of-service (QoS) distributed algorithm effective capacity machine type communications (MTC)

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Nonlinear Perturbation-Based Non-Convex Optimization Over Time-Varying Networks

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IEEE TRANSACTIONS ON NETWORK SCIENCE AND ENGINEERING 2024年第6期11卷 6461-6469页

作者： Doostmohammadian, Mohammadreza Gabidullina, Zulfiya R. Rabiee, Hamid R. Semnan Univ Fac Mech Engn Semnan 35131 Iran Ctr Int Sci Studies & Collaborat Tehran *** Iran Kazan Fed Univ Inst Computat Math & Informat Technol Kazan 420008 Russia Sharif Univ Technol Sch Comp Engn Tehran 11155 Iran

Decentralized optimization strategies are helpful for various applications, from networked estimation to distributed machine learning. This paper studies finite-sum minimization problems described over a network of nodes and proposes a computationally efficient algorithm that solves distributed convex problems and optimally finds the solution to locally non-convex objective functions. In contrast to batch gradient optimization in some literature, our algorithm is on a single-time scale with no extra inner consensus loop. It evaluates one gradient entry per node per time. Further, the algorithm addresses link-level nonlinearity representing, for example, logarithmic quantization of the exchanged data or clipping of the exchanged data bits. Leveraging perturbation-based theory and algebraic Laplacian network analysis proves optimal convergence and dynamics stability over time-varying and switching networks. The time-varying network setup might be due to packet drops or link failures. Despite the nonlinear nature of the dynamics, we prove exact convergence in the face of odd sign-preserving sector-bound nonlinear data transmission over the links. Illustrative numerical simulations further highlight our contributions.

关键词： distributed algorithm locally non-convex optimization network science perturbation theory distributed algorithm locally non-convex optimization network science perturbation theory

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Decentralized and Private Solution for the Optimal Dispatch of Integrated Wind Farms With Shared Energy Storage Systems

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IEEE TRANSACTIONS ON POWER SYSTEMS 2025年第2期40卷 1452-1464页

作者： Mu, Chenggang Ding, Tao Yuan, Yi Zhang, Biyuan Han, Zhuopu Shahidehpour, Mohammad Xi An Jiao Tong Univ Sch Elect Engn Xian 710049 Peoples R China Illinois Inst Technol ECE Dept Chicago IL 60616 USA

The integration of variable wind power faces additional challenges with the increasing global emphasis on renewable energy integration. Energy storage systems (ESSs) can offer promising solutions but the implementations for individual wind farms (WFs) are deemed very costly. This article proposes an integrated model for WFs and shared energy storage systems (SESSs), where the WF power uncertainty is handled through chance constraints, and deviations and fluctuations are reasonably mitigated. Further, SESS is represented by physical and virtual ESS components, where the actual ESS automatically satisfies not simultaneously charging and discharging, and the virtual ESS offers resource hedging within a WF group to reduce actual ESS losses. A distributed homomorphic encryption-based method is proposed to ensure WF privacy during power allocations, where the privately obtained values serve as initial inputs for the proposed decentralized algorithm to balance the information utilization and privacy preservation, and reduce the computational iterations. Case studies validate the effectiveness of the proposed approach.

关键词： Fluctuations Renewable energy sources Costs Electricity Privacy Energy storage Collaboration Wind farm shared energy storage virtual energy storage privacy-preserving distributed algorithm

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Handedness-Selective Nonlinear Absorption of a Chiral Metasurface Empowered by an Intelligent Distribution algorithm

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JOURNAL OF LIGHTWAVE TECHNOLOGY 2025年第2期43卷 712-718页

作者： Gui, Lili Liao, Xianglai Cao, Yang Chen, Hao Xie, Hailun Xu, Kun Beijing Univ Posts & Telecommun Beijing 100876 Peoples R China

Chiral metasurfaces, as planar or quasi-planar photonic nanostructures composed of artificial meta-atoms at the sub-wavelength scale, exhibit significant chiral optical responses in near-field and/or far-field regions. They find essential applications in linear regime including optical chiral sensing and chiral particle separation, as well as in nonlinear regime such as ultrafast chiral modulation. This work investigates handedness-dependent two-photon absorption effect of a chiral metasurface, which comprises periodic asymmetric split ring amorphous silicon (alpha-Si) nanostructure atop, an optically thin silica spacer layer, and a gold-film mirror at the bottom. The metasurface was inversely designed by using a distributed algorithm that combines distributed strategy, genetic algorithm, and finite difference time domain (FDTD) simulation method. Pronounced chiral selectivity in both linear (circular dichroism up to -0.56 at the wavelength of 1040 nm) and nonlinear (two-photon absorption, shortly TPA, with non-saturable absorption coefficient beta(0) of 4 orders of magnitude larger than bulk Si) regimes are experimentally achieved. The intelligent algorithm empowered nonlinear chiral metasurface may provide new perspectives towards nonlinear chiral sensing, imaging, and optical switching, controlled by handedness of the impinging light.

关键词： Metasurfaces Nonlinear optics Ultrafast optics Absorption Optical polarization Optical imaging Silicon Asymmetric split ring chiral metasurfaces distributed algorithm two-photon absorption

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Analysis of noisy angle-only network localization

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AUTOMATICA 2025年 173卷

作者： Chen, Liangming Xie, Lihua Lin, Zhiyun Southern Univ Sci & Technol Sch Automat & Intelligent Mfg Shenzhen Peoples R China Southern Univ Sci & Technol Shenzhen Key Lab Control Theory & Intelligent Syst Shenzhen Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore Singapore

Many types of linear continuous localization laws for sensor networks have been proposed by using inter-node measurements, including relative positions, distances, bearings, and interior angles. However, when these measurements are noisy, it is challenging to determine localization dynamics' stability and localization error, mainly due to the nonlinearity from the measurement noises to the position estimates. By taking angle-only localization as the example, this paper aims to show how noisy angle measurements affect continuous localization dynamics' stability and localization error. For the case of stochastic noises, a formula is proposed to exactly determine the mean of the convergent localization error. An interesting conclusion is that even when noises are unbiased, the localization error under the typical gradient-based localization law is biased in general and is related to noises' variance and the nominal angles. For the case of constant noises, sufficient conditions are presented for the continuous localization dynamics' stability, which imply that noises with larger magnitude make the stability conditions harder to satisfy. Moreover, we extend the analysis to noisy distance-only network localization. Simulation examples are provided to validate the obtained results. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Angle measurements Network systems Sensor networks Stochastic noises distributed algorithm

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Transactive Energy Sharing in a Microgrid via an Enhanced distributed Adaptive Robust Optimization Approach

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IEEE TRANSACTIONS ON SMART GRID 2022年第3期13卷 2279-2293页

作者： Wang, Bo Zhang, Cuo Li, Chaojie Yang, Guangya Dong, Zhao Yang Hohai Univ Coll Energy & Elect Engn Nanjing 211100 Peoples R China Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW 2052 Australia Tech Univ Denmark Dept Wind Energy & Energy Syst DK-2800 Lyngby Denmark Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

The rapid growth of microgrids with various distributed energy resources (DERs) brings new opportunities for local energy sharing in the microgrids. However, the uncertainties of renewable distributed generation and loads pose a great technical challenge for a microgrid operator (MGO). Thus, this paper proposes a transactive energy sharing (TES) approach for the MGO and DER aggregators to minimize the total social cost, considering network operating constraints. Accordingly, a two-settlement transactive energy (TE) market with an incentive energy pricing scheme is developed to encourage the participation in the energy sharing. Besides, the real-time energy transactions of the aggregators are considered in a day-ahead optimization stage to address their negative impacts on microgrid operation. To solve the proposed TES problem, an alternating direction method of multipliers (ADMM) is applied. The uncertainties in each ADMM local problem are further addressed by an adaptive robust optimization (ARO) method solved by a column-and-constraint generation (C&CG) algorithm. The updated dual and coupling variables at each ADMM iteration could interact with the C&CG algorithm, impairing ADMM convergence. To solve this issue, an alternating uncertainty-update procedure is developed. The simulation results verify the high efficiency and solution robustness of the proposed TES method.

关键词： Microgrids Uncertainty Costs Transactive energy Renewable energy sources Optimization Pricing Adaptive robust optimization alternating uncertainty-update procedure distributed algorithm energy sharing microgrid transactive energy

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