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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

IEEE Transactions on Automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Performance Recovery in Event-Triggered State Feedback control

Performance Recovery in Event-Triggered State Feedback Contr...

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2023 IEEE Conference on control Technology and Applications, CCTA 2023

作者： Kurtoglu, Deniz Yucelen, Tansel Tran, Dzung Casbeer, David Garcia, Eloy University of South Florida Laboratory for Autonomy Control Information and Systems Graduate Student of the Department of Mechanical Engineering TampaFL33620 United States University of South Florida Laboratory for Autonomy Control Information and Systems Department of Mechanical Engineering TampaFL33620 United States Wright-Patterson Air Force Base Air Force Research Laboratory Control Science Center OH45433 United States

ISBN: (纸本)9798350335446

The idea behind event-triggered control theory is to aperiodically schedule control data transmissions between an embedded processor and a physical system based on event rules. While this theory can effectively reduce control data transmissions, the resulting closed-loop system performance can significantly deviate from its ideal (i.e., non-event-triggered) closed-loop system performance. Furthermore, the selection of the parameters of the event rules can be a challenge in obtaining a satisfactory closed-loop system performance that stays close to its ideal one. Motivated by this standpoint, the contribution of this paper is to make the first attempt in rigorously addressing this problem, where we propose a corrective signal for recovering the ideal closed-loop system performance in event-triggered control. The key feature of the proposed corrective signal is that the closed-loop system performance approaches its ideal one in a quantifiable manner as the gain of this corrective signal is increased. System-theoretical analysis of the proposed method is presented and illustrative numerical examples are also given to demonstrate the efficacy of our contribution. © 2023 IEEE.

关键词： Closed loop systems

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Multiagent Placement to Spatiotemporal Points: A Finite-Time Distributed control Protocol over Directed Acyclic Graphs∗ 63

Multiagent Placement to Spatiotemporal Points: A Finite-Time...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Kurtoglu, Deniz Yucelen, Tansel Tran, Dzung Casbeer, David Garcia, Eloy University of South Florida Laboratory for Autonomy Control Information and Systems Department of Mechanical Engineering TampaFL33620 United States Air Force Research Laboratory Control Science Center Wright-Patterson Air Force Base OH45433 United States

ISBN: (纸本)9798350316339

Many multiagent system applications necessitate each agent to separately visit a specific location in space at a particular moment in time (i.e., spatiotemporal points). To this end, we propose a finite-time distributed control protocol over directed acyclic graphs that addresses the problem of multiagent placement at spatiotemporal points. In particular, we demonstrate that the proposed protocol can drive the trajectories of agents to their spatiotemporal points at different user-defined times by employing methods ranging from time transformation to input-to-state stability and Lyapunov stability. To show the efficacy of the proposed protocol, we also give two illustrative numerical examples. © 2024 IEEE.

关键词： Directed graphs

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Trust Establishment for the Role-Based Collaborative Multi-Robot systems

Trust Establishment for the Role-Based Collaborative Multi-R...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Akbari, Behzad Zhu, Haibin Pan, Ya-Jun Dalhousie University Advanced Control and Mechatronics Laboratory Department of Mechanical Engineering HalifaxNS Canada Nipissing University Collaborative Systems Laboratory Department of Computer Science and Mathematics North BayON Canada

ISBN: (纸本)9798350337020

Trust evaluation and trust establishment play crucial roles in the management of trust within a multi-agent system. When it comes to collaboration systems, trust becomes directly linked to the specific roles performed by agents. The Role-Based Collaboration (RBC) methodology serves as a framework for assigning roles that facilitate agent collaboration. Within this context, the behavior of an agent with respect to a role is referred to as a process role. This research paper introduces a role engine that incorporates a trust establishment algorithm aimed at identifying optimal and reliable process roles. In our study, we define trust as a continuous value ranging from 0 to 1. To optimize trustworthy process roles, we have developed a consensus-based Gaussian Process Factor Graph (GPFG) tool. Our simulations and experiments validate the feasibility and efficiency of our proposed approach with autonomous robots in unsignalized intersections and narrow hallways. © 2023 IEEE.

关键词： Gaussian process factor graph Multi-Agent systems (MASs) Role-based collaboration Trust management systems

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Research on workflow recognition for liver rupture repair surgery

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Mathematical Biosciences and engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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Mn-based MXene with high lithium-ion storage capacity

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Nano Research 2024年第5期17卷 4181-4191页

作者： Yanyan Wu Dongqing Liu Xiaonan Wang Usman Ghani Muhammad Asim Mushtaq Jinfeng Yang Huarui Sun Panagiotis Tsiakaras Xingke Cai School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 5180552 China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Institute for Advanced Study Shenzhen UniversityShenzhen 518060China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Laboratory of Alternative Energy Conversion Systems Department of Mechanical EngineeringSchool of EngineeringUniversity of ThessalyPedion Areos 38834Greece

3d-transition metal(Fe,Co,Ni,and Mn)-based MXene materials have been predicted to demonstrate exceptional electrochemical performance because of their good electrical conductivity and the presence of metallic atoms with multiple charge ***,until now,there have been no reports on MXenes based on Fe,Co,Ni,and Mn,due to the lack of 3d-metal-layered ***,we successfully synthesized the first 3d-transition metal-based MXenes,Mn_(2)CT_(x) by exfoliating a layered precursor derived from the anti-perovskite bulk *** as-prepared Mn_(2)CT_(x) MXene nanosheets were employed as anode materials in lithium-ion batteries,which exhibited stable storage capacity of 764.7 mAh·g^(-1) at 0.5 C,placing its storage capacities at an upper-middle level compared with other reported MXene materials as well as other Mn-based anode ***,this study opens a new avenue for MXene research by synthesizing 3d-transition metal-based MXenes for electrochemical applications.

关键词： Mn_(3)GaC Mn_(2)CT_(x) MXenes lithium-ion battery anode materials negative fading capacity

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Adaptive observer for a LTV system with partially unknown state matrix and delayed measurements 14

Adaptive observer for a LTV system with partially unknown st...

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14th International Congress on Ultra Modern Telecommunications and control systems and Workshops, ICUMT 2022

作者： Bobtsov, Alexey Nikolaev, Nikolay Slita, Olga Kozachek, Olga Oskina, Olga Itmo University Institute of Problems of Mechanical Engineering Laboratory 'Control of Complex Systems' Department of Control Systems and Robotics Saint-Petersburg Russia Itmo University Department of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (数字)9798350398663

ISBN: (纸本)9798350398663

Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers [1]. In this paper the results proposed in the [2]-[4] are developed. It is supposed that the state matrix can be represented as sum of known and unknown parts. Output vector is measured with known constant delay. An adaptive identification algorithm which reconstructs unknown state and unknown time-varying parameter is proposed. © 2022 IEEE.

关键词： Time varying control systems

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Functional meniscus reconstruction with biological and biomechanical heterogeneities through topological self-induction of stem cells

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Bioactive Materials 2024年第6期36卷 358-375页

作者： Mingze Du Kangze Liu Huinan Lai Jin Qian Liya Ai Jiying Zhang Jun Yin Dong Jiang Department of Sports Medicine Peking University Third HospitalInstitute of Sports Medicine of Peking UniversityBeijing Key Laboratory of Sports InjuriesEngineering Research Center of Sports Trauma Treatment Technology and DevicesMinistry of EducationBeijingChina The State Key Laboratory of Fluid Power Transmission and Control Systems Key Laboratory of 3D Printing Process and Equipment of Zhejiang ProvinceSchool of Mechanical EngineeringZhejiang UniversityZhejiang310058China Department of Engineering Mechanics Key Laboratory of Soft Machines and Smart Devices of Zhejiang ProvinceZhejiang UniversityZhejiang310058China School of Chemistry Chemical Engineering and BiotechnologyNanyang Technological University639798Singapore

Meniscus injury is one of the most common sports injuries within the knee joint,which is also a crucial pathogenic factor for osteoarthritis(OA).The current meniscus substitution products are far from able to restore meniscal biofunctions due to the inability to reconstruct the gradient heterogeneity of natural meniscus from biological and biomechanical ***,inspired by the topology self-induced effect and native meniscus microstructure,we present an innovative tissue-engineered meniscus(TEM)with a unique gradient-sized diamond-pored microstructure(GSDP-TEM)through dual-stage temperature control 3D-printing system based on the mechanical/biocompatibility compatible high M_(w) poly(ε-caprolactone)(PCL).Biologically,the unique gradient microtopology allows the seeded mesenchymal stem cells with spatially heterogeneous differentiation,triggering gradient transition of the extracellular matrix(ECM)from the inside ***,GSDP-TEM presents excellent circumferential tensile modulus and load transmission ability similar to the natural *** implantation in rabbit knee,GSDP-TEM induces the regeneration of biomimetic heterogeneous neomeniscus and efficiently alleviates joint *** study provides an innovative strategy for functional meniscus *** self-induced cell differentiation and biomechanical property also provides a simple and effective solution for other complex heterogeneous structure reconstructions in the human body and possesses high clinical translational potential.

关键词： Tissue-engineered meniscus Functional reconstruction Mesenchymal stem cells Heterogeneity Topology structure

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Chaotic Behavior of DC-DC Boost Converter by using Voltage Mode control

Chaotic Behavior of DC-DC Boost Converter by using Voltage M...

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Emerging Technology (INCET), International Conference for

作者： Sandhu Ganesh Sudarshan K. Valluru Department of Electrical Engineering Control of Dynamical Systems and Computation Laboratory Delhi Technological University (DTU) Delhi India

This paper examines the Boost converter's chaotic behavior. A voltage mode controlled technique is being utilized to analyze the discrete-time mapping to determine the properties of the bifurcation that operate in a closed loop. By varying some parameters while holding others constant, the reference voltage and input voltage are used to examine the bifurcation diagram. It has been noted that the system becomes unstable and splits into two time-periodic systems, four time – periodic systems and then chaos takes over the system. These occurrences have been shown in the bifurcation diagram, therefore the converter's safe operating range can be determined and verified by using the time-domain waveforms and phase plots.

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Microstructure, mechanical and Tribological Properties of Al7075/SiC/Graphite Hybrid Metal Matrix Composites

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Journal of Bio- and Tribo-Corrosion 2022年第3期8卷 1-15页

作者： Sridhar, Atla Lakshmi, K. Prasanna Raju, Ch. V. Satyanarayana Department of Mechanical Engineering GITAM Deemed to Be University Hyderabad Telangana502329 India Department of Mechanical Engineering Jawaharlal Nehru Technological University Hyderabad Telangana500085 India Control Systems Laboratory Research Center Imarat Defence Research and Development Organisation Hyderabad Telangana500069 India

Particulate reinforced aluminium hybrid composites are becoming more popular in automobile, aero and industrial applications. The current work attempts to produce self-lubricating particulates into Al7075–5wt% SiC–xwt% graphite (x = 0, 5, and 10) hybrid-composite via the powder metallurgy method. The hybrid composites' density, hardness, microstructural, and tribological properties were studied. The Taguchi experimental design was used to investigate the ideal testing settings utilising an orthogonal array, the signal-to-noise ratio, and analysis of variance. It was observed that reinforcement particles are homogeneously dispersed in the matrix alloy as fine dendrites in aluminium from SEM examination. According to the results. The wear loss increases as the sliding distance and load increase but decreases as the graphite weight percentage increases. Therefore, a confirmation test was also performed with the optimized parameter combinations to validate the Taguchi findings, reducing wear loss by around 45.11% and the friction coefficient by 68.50%. The wear-mechanism has described creating both an adhesive layer and an interfacial layer. The wear mechanisms were explained by examining through SEM and Edax. The wear resistance and friction coefficient of aluminium hybrid composites improved significantly by incorporating a solid lubricant and hard ceramic reinforcing particulate in the matrix alloy. © 2022, The Author(s), under exclusive licence to Springer Nature Switzerland AG.

关键词： Graphite

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