Leader-following consensus of fractional-order multi-agent systems via adaptive control

This article focuses on the consensus problem of leader-following fractional-order multi-agent systems (MASs) with general linear and Lipschitz nonlinear dynamics. First, the distributed adaptive protocols for linear and nonlinear fractional-order MASs are constructed, respectively. We allow the control coupling gains to be time varying for each agent. Moreover, the adaptive modification schemes for the control gain are designed, which renders smaller control gains and thus requires smaller amplitude on the control input without sacrificing consensus convergence. Second, based on fractional-order Lyapunov stability theorem and Barbalat's lemma, two novel sufficient conditions in terms of linear matrix inequalities are provided to ensure that the leader-following consensus can be obtained in the case for any undirected connected communication graph. Furthermore, we show that the proposed algorithm also works for consensus of agents with intrinsic Lipschitz nonlinear dynamics. As a result, the proposed framework requires no global information and thus can be implemented in a fully distributed manner. Finally, the numerical simulations are given to demonstrate the effectiveness of obtained the theoretical results.     

Control theory for stochastic distributed parameter systems,an engineering perspective

The main purpose of this paper is to survey some recent progresses on control theory for stochastic distributed parameter systems, i.e., systems governed by stochastic differential equations in infinite dimensions, typically by stochastic partial differential equations. We will explain the new phenomenon and difficulties in the study of controllability and optimal control problems for one dimensional stochastic parabolic equations and stochastic hyperbolic equations. In particular, we shall see that both the formulation of corresponding stochastic control problems and the tools to solve them may differ considerably from their deterministic/finite-dimensional counterparts. More importantly, one has to develop new tools, say, the stochastic transposition method introduced in our previous works, to solve some problems in this field.     

Model checking temporal knowledge and commitments in multi-agent systems using reduction

Though modeling and verifying Multi-Agent Systems (MASs) have long been under study, there are still challenges when many different aspects need to be considered simultaneously. In fact, various frameworks have been carried out for modeling and verifying MASs with respect to knowledge and social commitments independently. However, considering them under the same framework still needs further investigation, particularly from the verification perspective. In this article, we present a new technique for model checking the logic of knowledge and commitments (CTLKC⁺). The proposed technique is fully-automatic and reduction-based in which we transform the problem of model checking CTLKC⁺ into the problem of model checking an existing logic of action called ARCTL. Concretely, we construct a set of transformation rules to formally reduce the CTLKC⁺ model into an ARCTL model and CTLKC⁺ formulae into ARCTL formulae to get benefit from the extended version of NuSMV symbolic model checker of ARCTL. Compared to a recent approach that reduces the problem of model checking CTLKC⁺ to another logic of action called GCTL¹, our technique has better scalability and efficiency. We also analyze the complexity of the proposed model checking technique. The results of this analysis reveal that the complexity of our reduction-based procedure is PSPACE-complete for local concurrent programs with respect to the size of these programs and the length of the formula being checked. From the time perspective, we prove that the complexity of the proposed approach is P-complete with regard to the size of the model and length of the formula, which makes it efficient. Finally, we implement our model checking approach on top of extended NuSMV and report verification results for the verification of the NetBill protocol, taken from business domain, against some desirable properties. The obtained results show the effectiveness of our model checking approach when the system scales up.     

Liner services network design and fleet deployment with empty container repositioning

Transportation demand of shipping container fluctuates due to the seasonality of international trade, thus, every 3–6 months, the liner company has to alter its current liner shipping service network, redeploy ships and design cargo routes with the objective of minimizing the total cost. To solve the problem, the paper presents a mixed integer linear program model. The proposed model incorporates several relevant constraints, such as weekly frequency, the transshipment of cargo between two or more service routes, and transport time. Extensive numerical experiments based on realistic date of Asia–Europe–Oceania shipping operations show that the proposed model can solve real-case problems efficiently by CPLEX. The results demonstrate that the model can reduce ship’s capacity consumption and raise ships’ capacity utilization.     

Adaptive actuator failure compensation design for unknown chaotic multi‐input systems

In this paper, an adaptive control approach is designed for compensating the faults in the actuators of chaotic systems and maintaining the acceptable system stability. We propose a state‐feedback model reference adaptive control scheme for unknown chaotic multi‐input systems. Only the dimensions of the chaotic systems are required to be known. Based on Lyapunov stability theory, new adaptive control laws are synthesized to accommodate actuator failures and system nonlinearities. An illustrative example is studied. The simulation results show the effectiveness of the design method. Copyright © 2014 John Wiley & Sons, Ltd.     

Elitist clonal selection algorithm for optimal choice of free knots in B-spline data fitting

Data fitting with B-splines is a challenging problem in reverse engineering for CAD/CAM, virtual reality, data visualization, and many other fields. It is well-known that the fitting improves greatly if knots are considered as free variables. This leads, however, to a very difficult multimodal and multivariate continuous nonlinear optimization problem, the so-called knot adjustment problem. In this context, the present paper introduces an adapted elitist clonal selection algorithm for automatic knot adjustment of B-spline curves. Given a set of noisy data points, our method determines the number and location of knots automatically in order to obtain an extremely accurate fitting of data. In addition, our method minimizes the number of parameters required for this task. Our approach performs very well and in a fully automatic way even for the cases of underlying functions requiring identical multiple knots, such as functions with discontinuities and cusps. To evaluate its performance, it has been applied to three challenging test functions, and results have been compared with those from other alternative methods based on AIS and genetic algorithms. Our experimental results show that our proposal outperforms previous approaches in terms of accuracy and flexibility. Some other issues such as the parameter tuning, the complexity of the algorithm, and the CPU runtime are also discussed.     

Controllability and observability of multi-agent systems with heterogeneous and switching topologies

ABSTRACT

This paper focuses on controllability and observability of multi-agent systems with heterogeneous and switching topologies, where the first- and the second-order information interaction topologies are different and switching. First, based on the controllable state set, a controllability criterion is obtained in terms of the controllability matrix corresponding to the switching sequence. Next, by virtue of the subspace sequence, two necessary and sufficient algebraic conditions are established for controllability in terms of the system matrices corresponding to all the possible topologies. Furthermore, controllability is considered from the graphic perspective. It is proved that the system is controllable if the union graph of all the possible topologies is controllable. With respect to observability, two sufficient and necessary conditions are derived by taking advantage of the system matrices and the corresponding invariant subspace, respectively. Finally, some simulation examples are worked out to illustrate the theoretical results.     

A Global Maximum Error Controller Based Nonlinearity Aware TPWL Method for Reducing Nonlinear Systems

Abstract

Model order reduction is a common practice to reduce large order systems so that their simulation and control become easy. Nonlinearity aware trajectory piecewise linear is a variation of trajectory piecewise linearization technique of order reduction that is used to reduce nonlinear systems. With this scheme, the reduced approximation of the system is generated by weighted sum of the linearized and reduced sub-models obtained at certain linearization points on the system trajectory. This scheme uses dynamically inspired weight assignment that makes the approximation nonlinearity aware. Just as weight assignment, the process of linearization points selection is also important for generating faithful approximations. This article uses a global maximum error controller based linearization points selection scheme according to which a state is chosen as a linearization point if the error between a current reduced model and the full order nonlinear system reaches a maximum value. A combination that not only selects linearization points based on an error controller but also assigns dynamic inspired weights is shown in this article. The proposed scheme generates approximations with higher accuracies. This is demonstrated by applying the proposed method to some benchmark nonlinear circuits including RC ladder network and inverter chain circuit and comparing the results with the conventional schemes.     

A review on some classes of algebraic systems

ABSTRACT

In this paper, we review some algebraic control system. Precisely, linear and bilinear systems on Euclidean spaces and invariant and linear systems on Lie groups. The fourth classes of systems have a common issue: to any class, there exists an associated subgroup. From this object, we survey the controllability property. Especially, from those coming from our contribution to the theory.     

Using a Discrete-Event System Specifications (DEVS) for designing a Modelica compiler

We introduce a new architecture for the design of a tool for modeling and simulation of continuous and hybrid systems. The environment includes a compiler based on Modelica, a modular and a causal standard specification language for physical systems modeling (the tool supports models composed using certain component classes defined in the Modelica Standard Library, and the instantiation, parameterization and connection of these MSL components are described using a subset of Modelica). Models are defined in Modelica and are translated into DEVS models. DEVS theory (originally defined for modeling and simulation of discrete event systems) was extended in order to permit defining these of models. The different steps in the compiling process are show, including how to model these dynamic systems under the discrete event abstraction, including examples of model simulation with their execution results.