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On the Controllability of Discrete-Time Leader-Follower Multiagent Systems with Two-Time-Scale and Heterogeneous Features

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MATHEMATICAL PROBLEMS IN engineering 2021年第1期2021卷

作者： Gu, Mengqi Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Huaiyin Normal Univ Sch Phys & Elect Elect Engn Huaian 223300 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

This paper investigates the controllability of discrete-time leader-follower multiagent systems (MASs) with two-time-scale and heterogeneous features, motivated by the fact that many real systems are operating in discrete-time. In this study, singularly perturbed difference systems are used to model the two-time-scale heterogeneous discrete-time MASs. To avoid the ill-posedness problem caused by the singular perturbation parameter when using the classical control theory to study the model, the singular perturbation method was first applied to decompose the system into two subsystems with slow-time-scale and fast-time-scale feature. Then, from the perspective of algebra and graph theory, several easier-to-use controllability criteria for the related MASs are proposed. Finally, the effectiveness of the main results is verified by simulation.

关键词： Multi agent systems

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Observer-Based Robust Containment Control of Multi-agent Systems With Input Saturation 39

Observer-Based Robust Containment Control of Multi-agent Sys...

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39th Chinese Control Conference (CCC)

作者： Qian, Juan Wang, Xiaoling Jiang, Guo-Ping Su, Housheng Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Luoyu Rd 1037 Wuhan 430074 Peoples R China

ISBN: (纸本)9789881563903

In this paper, the robust containment control problem of the leader-following multi-agent systems with input saturation and input additive disturbance is addressed, where the followers can be informed by multiple leaders. With the help of the low-and-high gain feedback technique and the high-gain observer approach, a distributed control algorithm for each agent is firstly designed by using the observed output information, then sufficient conditions are provided to guarantee the semi-global robust containment of the system. Finally, some numerical simulations are given to verify the correctness of the theoretical results.

关键词： Containment control multi-agent system input saturation input additive disturbance

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Modeling of Layered Supply Chain Network Considering Similarity 32

Modeling of Layered Supply Chain Network Considering Similar...

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32nd Chinese Control And Decision Conference (CCDC)

作者： Zhang, Yi Song, Yurong Jiang, Guoping Yu, Bin Nanjing Univ Posts & Telecommun Sch Comp Sci Software & Network Space Secur Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210003 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Hengyang Key Lab Informat Secure & Its Applicat R Hengyang 421002 Peoples R China

ISBN: (纸本)9781728158556

The supply chain network is a complex network with the risk of cascading failure. To study the cascading failure in it, an accurate supply chain network model needs to be established. In this paper, we construct a layered supply chain network model according to the types of companies in real supply chain networks. We first define the similarity between companies in the same layer by studying real-world scenarios in supply chain networks. Then, considering both the node degree and the similarity between nodes in the same layer, we propose preferential attachment probability formulas for the new nodes to join the exist network. Finally, the evolution steps of the model are summarized. We analyze the structural characteristics of the new model. The results show that the new model has scale-free property and small-world property, which conform to the structural characteristics of the known supply chain networks. Compared with the other network models, it is found that the new model can better describe the actual supply chain network.

关键词： Supply Chain Network Cascading Failure Similarity BA Model Structural Characteristics

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The Infimum on Laplacian Eigenvalues of a Connected Extended Graph: An Edge-Grafting Perspective

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2020年第11期67卷 2627-2631页

作者： Wang, Xiaoling Su, Housheng Wang, Xiaofan Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China Shanghai Univ Dept Automat Shanghai 200072 Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China

Consider a connected extended graph $\overline {\mathbb {G}}$ of size $N+1$ generated by a connected graph $\mathbb {G}$ of size $N$ together with one additional node and some directed edges, in which the extra node is named the virtual leader and the directed edges are originated from the virtual leader to some nodes in $\mathbb {G}$ . Define an $N\times N$ matrix $L+H$ as the extended Laplacian matrix of $\mathbb {G}$ , in which $L$ is the Laplacian matrix of $\mathbb {G}$ and $H$ is an nonnegative diagonal matrix with at least one diagonal element being 1. In this brief, we focus on the eigenvalues of the extended Laplacian matrix $L+H$ (i.e., the Laplacian eigenvalues) associated with a connected $\overline {\mathbb {G}}$ and acquire the infimum for them by using the edge-grafting approach. It is found that, the infimum on the Laplacian eigenvalues of a connected $\overline {\mathbb {G}}$ obtained here corresponds to a chain together with a virtual leader and a directed edge, in which either one of the two ending nodes with degree 1 in the chain is informed by the virtual leader. Also with the help of the edge-grafting approach, the infimum on the algebraic connectivity associated with a connected $\mathbb {G}$ is gotten.

关键词： Laplace equations Eigenvalues and eigenfunctions Automation Circuits and systems Electronic mail Couplings Symmetric matrices Extended graph Laplacian eigenvalue edge-grafting approach algebraic connectivity

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A Soft Robotic Glove for Hand Rehabilitation Using Pneumatic Actuators with Variable Stiffness 12th

A Soft Robotic Glove for Hand Rehabilitation Using Pneumatic...

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12th International Conference on intelligent Robotics and Applications (ICIRA)

作者： Guo, Yiquan Xu, Fengyu Song, Yurong Cao, Xudong Meng, Fanchang Nanjing Univ Posts & Telecommun Coll Automat & Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

ISBN: (纸本)9783030275358;9783030275341

Traditional rigid robots exist many problems in rehabilitation training. Soft robotics is conducive to breaking the limitations of rigid robots. This paper presents a soft wearable device for the rehabilitation of hands, including soft pneumatic actuators that are embedded in the device for motion assistance. The key feature of this design is the stiffness of each actuator at different positions is different, which results in the bending posture of the actuator is more accordant with the bending figure of human hand. In addition, another key point is the use of a fabric sleeves allow actuators to gain greater bending force when pressurized, which gives the hand greater bending force. We verified the feasibility of actuator through simulation, the performance of soft actuator and the device also are evaluated through experiments. Finally, the results show that this device can finish some of the hand rehabilitation tasks.

关键词： Rehabilitation training Soft robot Pneumatic actuator

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Quasi-synchronization of heterogeneous dynamical networks with sampled-data and input saturation

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NEUROCOMPUTING 2019年 339卷 130-138页

作者： Yang, Huihui Wang, Zhengxin Xiao, Min Jiang, Guo-Ping Huang, Chengdai Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Jiangsu Peoples R China Xinyang Normal Univ Sch Math & Stat Xinyang 464000 Peoples R China

This paper considers the problem of quasi-synchronization of heterogeneous dynamical networks with sampled-data and input saturation constrains. By introducing a leader and designing the controller involved the quantization and actuator saturation, the heterogeneous dynamical networks can be transformed into the corresponding error systems with bounded disturbances. A sufficient criterion ensuring the error system can exponentially stable and convergent to a bounded region is established via a Lyapunov functional approach. Based on the criterion, the control gain matrix is further designed. Simulation examples are presented to illustrate the validity of the theoretical results. (C) 2019 Elsevier B.V. All rights reserved.

关键词： Synchronization Quasi-synchronization Heterogeneous dynamical networks Sampled-data control Input saturation

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Safety guarantee technologies of water pressure and water quality: a case study in secondary water supply for high-rise buildings

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DESALINATION AND WATER TREATMENT 2020年第0期184卷 395-407页

作者： Wang, Dongsheng Jiang, Fuchun Liu, Hongbin Xiang, Hao Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Sch Artificial Intelligence Nanjing 210023 Peoples R China Suzhou Tap Co Suzhou 215002 Peoples R China Nanjing Forestry Univ Coinnovat Ctr Efficient Proc & Utilizat Forest Re Nanjing 210037 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China

With the rapid development of high-rise buildings in the past decades, the secondary water supply (SWS) has drawn great attention. In the traditional SWS of high-rise buildings, water pressure in the main pipeline is not enough to transmit water to high-rise rooftops, and thus water needs to be pumped to the rooftop water tank, then distributed to households with the help of gravity. Meanwhile, the water bio-indices assessment exceeds risk standards for the breeding of microorganisms and pathogens in rooftop water tanks. To avoid this phenomenon, the water pressure is boosted through an anti-negative pressure facility, and then water is distributed to households directly in the practical case of this work. Moreover, secondary disinfection, in which physical (ultraviolet) and chemical (sodium hypochlorite) disinfection techniques are combined, is implemented before the water enters occupants' homes. In this work, safety guarantee technologies of water pressure and water quality are successfully applied in a residential district of Suzhou, China. The results show that the qualified rate of water quality increases from 61% to 100%, and the water pressure fluctuates within 0.03 MPa.

关键词： Anti-negative pressure facility Ultraviolet Sodium hypochlorite Secondary water supply

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Observer-Based Robust Containment Control of Multi-agent Systems With Input Saturation

Observer-Based Robust Containment Control of Multi-agent Sys...

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第三十九届中国控制会议

作者： Juan Qian Xiaoling Wang Guo-Ping Jiang Housheng Su College of Automation and College of Artificial Intelligence Nanjing University of Posts and Telecommunicationsand Jiangsu Engineering Lab for IOT Intelligent Robots(IOTRobot) School of Artificial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology

In this paper, the robust containment control problem of the leader-following multi-agent systems with input saturation and input additive disturbance is addressed, where the followers can be informed by multiple leaders. With the help of the lowand-high gain feedback technique and the high-gain observer approach, a distributed control algorithm for each agent is firstly designed by using the observed output information, then sufficient conditions are provided to guarantee the semi-global robust containment of the system. Finally, some numerical simulations are given to verify the correctness of the theoretical results.

关键词： Containment control multi-agent system input saturation input additive disturbance

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Study on optimal scheduling pump group based on parallel H-Q characteristics and pipe characteristics

Study on optimal scheduling pump group based on parallel H-Q...

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第三十八届中国控制会议

作者： Hao Xiang Junfei Wu Xiao Chang Dongsheng Wang Lei Ji Jiangsu Engineering Lab for IOT Intelligent Robots School of Automation Nanjing University of Posts and Telecommunications

Pumps system takes important role at water-supplying factory. It always takes up a large part of consumer at *** parallel operation mode of pump group has different impacts on the multiple operation of water supply system. In order to meet the requirements of users, achieve low energy consumption water supply, develop economic and social significance, this paper puts forward an optimization model scheme. The model determines the optimal operating point. By selecting the number of pumps and the speed regulation ratio of the frequency conversion pump, the H-Q characteristics of the parallel pump group and the pipe resistance characteristics is intersected at the working point. The model conforms to the actual working condition of the pump group. And more advanced methods are used to fit the pump characteristics. Simulation experiments show that the modeling method is more accurate.

关键词： Pumps in parallel pump group characteristics variable frequency pump

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An iterative Q-learning based global consensus of discrete-time saturated multi-agent systems

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CHAOS 2019年第10期29卷 103127-103127页

作者： Long, Mingkang Su, Housheng Wang, Xiaoling Jiang, Guo-Ping Wang, Xiaofan Huazhong Univ Sci & Technol Educ Minist China Image Proc & Intelligent Control Key Lab Sch Artificial Intelligence & Automat Wuhan 430074 Hubei Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Jiangsu Peoples R China Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Jiangsu Peoples R China Shanghai Univ Dept Automat Shanghai 200072 Peoples R China

This paper addresses the consensus problem of discrete-time multiagent systems (DTMASs), which are subject to input saturation and lack of the information of agent dynamics. In the previous works, the DTMASs with input saturation can achieve semiglobal consensus by utilizing the low gain feedback (LGF) method, but computing the LGF matrices by solving the modified algebraic Riccati equation requires the knowledge of agent dynamics. In this paper, motivated by the reinforcement learning method, we propose a model-free Q-learning algorithm to obtain the LGF matrices for the DTMASs achieving global consensus. Firstly, we define a Q-learning function and deduce a Q-learning Bellman equation, whose solution can work out the LGF matrix. Then, we develop an iterative Q-learning algorithm to obtain the LGF matrix without the requirement of the knowledge about agent dynamics. Moreover, the DTMASs can achieve global consensus. Lastly, some simulation results are proposed to validate the effectiveness of the Q-learning algorithm and show the effect on the rate of convergence from the initial states of agents and the input saturation limit. Published under license by AIP Publishing.

关键词： discrete time systems iterative methods matrix algebra multi-agent systems nonlinear dynamical systems Riccati equations

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