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Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. Specifically, we consider a group of agents described by fully actuated Euler–Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. Sliding mode control is known to drive the system states to the sliding surface in finite time. The key feature of our approach is in the design of non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time, thus ensuring finite-time coordination among the agents in the network. In addition, we discuss the case of switching communication topologies in multiagent systems. Finally, we show the efficacy of our theoretical results using an example of a multiagent system involving planar double integrator agents. 相似文献
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In this paper, we present a family of optimal, in the sense of Kung–Traub’s conjecture, iterative methods for solving nonlinear equations with eighth-order convergence. Our methods are based on Chun’s fourth-order method. We use the Ostrowski’s efficiency index and several numerical tests in order to compare the new methods with other known eighth-order ones. We also extend this comparison to the dynamical study of the different methods. 相似文献
5.
Dalibor Petković Shahaboddin Shamshirband Hadi Saboohi Tan Fong Ang Nor Badrul Anuar Nenad D. Pavlović 《Applied Intelligence》2014,41(3):887-896
The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR poly and SVR rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology. 相似文献
6.
Hadi Shahriar Shahhoseini Ehsan Saleh Kandzi Morteza Mollajafari 《The Journal of supercomputing》2014,67(1):31-46
Parallel machines are extensively used to increase computational speed in solving different scientific problems. Various topologies with different properties have been proposed so far and each one is suitable for specific applications. Pyramid interconnection networks have potentially powerful architecture for many applications such as image processing, visualization, and data mining. The major advantage of pyramids which is important for image processing systems is hierarchical abstracting and transferring the data toward the apex node, just like the human being vision system, which reach to an object from an image. There are rapidly growing applications in which the multidimensional datasets should be processed simultaneously. For such a system, we need a symmetric and expandable interconnection network to process data from different directions and forward them toward the apex. In this paper, a new type of pyramid interconnection network called Non-Flat Surface Level (NFSL) pyramid is proposed. NFSL pyramid interconnection networks constructed by L-level A-lateral-base pyramids that are named basic-pyramids. So, the apex node is surrounded by the level-one surfaces of NFSL that are the first nearest level of nodes to apex in the basic pyramids. Two topologies which are called NFSL-T and NFSL-Q originated from Trilateral-base and Quadrilateral-base basic-pyramids are studied to exemplify the proposed structure. To evaluate the proposed architecture, the most important properties of the networks are determined and compared with those of the standard pyramid networks and its variants. 相似文献
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Hydrophilic coatings based on 3‐glicidoxy propyl trimethoxy silane (GPTMS) and polyethylene glycol (PEG) were prepared with the incorporation of tetramethoxysilane (TMOS) and silica nanoparticle colloidal suspension by a sol–gel process. Characterization of the coatings has been performed by Fourier Transform Infrared (FTIR) and Attenuated Total Reflectance Infrared (ATR‐IR) techniques. Morphological properties were characterized by Scanning Electron Microscopy (SEM). The distribution of Si atoms in the hybrid system was obtained by Si mapping. The particle size in sol solution of the coating was measured by light scattering analyzer. Optical properties were characterized by using UV–vis spectrophotometer. The hydrophilicity of the coating was determined by contact angle measurements, and also the results have been confirmed by surface energy and water uptake investigations. The obtained results indicate that the surfactants affected the contact angles remarkably but did not change the transparency. It has been found that applying silica nano particles leads to coatings with different properties than those using TMOS, while siloxane contents were the same in these two set of coatings. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 5322–5329, 2006 相似文献
8.
Sanaz Nazari Hadi Basirzadeh 《International Journal of Control, Automation and Systems》2014,12(1):84-92
Therapeutic vaccines are being developed as a promising new approach to treatment for cancer patients. There are still many unanswered questions about which kind of therapeutic vaccines are the best for the cancer treatments? In this paper we consider a mathematical model, in the form of a system of ordinary differential equations (ODE), this system is an example from a class of mathematical models for immunotherapy of the tumor that were derived from a biologically validated model by Lisette G. de Pillis. The problem how to schedule a variable amount of which vaccines to achieve a maximum reduction in the primary cancer volume is consider as an optimal control problem and it is shown that optimal control is quadratic with 0 denoting a trajectory corresponding to no treatment and 1 a trajectory with treatment at maximum dose along that all therapeutics are being exhausted. The ODE system dynamics characterized by locating equilibrium points and stability properties are determined by using appropriate Lyapunov functions. Especially we attend a parametric sensitivity analysis, which indicates the dependency of the optimal solution with respect to disturbances in model parameters. 相似文献
9.
Hadi Haeri ;Kourosh Shahriar ;Mohammad Fatehi Marji ;Parviz Moarefvand 《中南工业大学学报(英文版)》2014,(6):2404-2414
The mechanism of cracks propagation and cracks coalescence due to compressive loading of the brittle substances containing pre-existing cracks (flaws) was modeled experimentally using specially made rock-like specimens from Portland Pozzolana Cement (PPC). The breakage process of the specimens was studied by inserting single and double flaws with different inclination angles at the center and applying uniaxial compressive stress at both ends of the specimen. The first crack was oriented at 50° from the horizontal direction and kept constant throughout the analysis while the orientation of the second crack was changed. It is experimentally observed that the wing cracks are produced at the first stage of loading and start their propagation toward the direction of uniaxial compressive loading. The secondary cracks may also be produced in form of quasi-coplanar and/or oblique cracks in a stable manner. The secondary cracks may eventually continue their propagation in the direction of maximum principle stress. These experimental works were also simulated numerically by a modified higher order displacement discontinuity method and the cracks propagation and cracks coalescence were studied based on Mode I and Mode II stress intensity factors (SIFs). It is concluded that the wing cracks initiation stresses for the specimens change from 11.3 to 14.1 MPain the case of numerical simulations and from 7.3 to 13.8 MPa in the case of experimental works. It is observed that cracks coalescence stresses change from 21.8 to 25.3 MPa and from 19.5 to 21.8 MPa in the numerical and experimental analyses, respectively. Comparing some of the numerical and experimental results with those recently cited in the literature validates the results obtained by the proposed study. Finally, a numerical simulation was accomplished to study the effect of confining pressure on the crack propagation process, showing that the SIFs increase and the crack initiation angles change in this case. 相似文献
10.
Hossein Derakhshankhah Rana Jahanban-Esfahlan Somayeh Vandghanooni Sattar Akbari-Nakhjavani Bakhshali Massoumi Babak Haghshenas Aram Rezaei Amir Farnudiyan-Habibi Hadi Samadian Mehdi Jaymand 《应用聚合物科学杂志》2021,138(24):50578
Gelatin (Gel)-based pH- and thermal-responsive magnetic hydrogels (MH-1 and MH-2) were designed and developed as novel drug delivery systems (DDSs) for cancer chemo/hyperthermia therapy. For this goal, Gel was functionalized with methacrylic anhydride (GelMA), and then copolymerized with (2-dimethylaminoethyl) methacrylate (DMAEMA) monomer in the presence of methacrylate-end capped magnetic nanoparticles (MNPs) as well as triethylene glycol dimethacrylate (TEGDMA; as crosslinker). Afterward, a thiol-end capped poly(N-isopropylacrylamide) (PNIPAAm-SH) was synthesized through an atom transfer radical polymerization technique, and then attached onto the hydrogel through “thiol-ene” click grafting. The preliminary performances of developed MHs for chemo/hyperthermia therapy of human breast cancer was investigated through the loading of doxorubicin hydrochloride (Dox) as an anticancer agent followed by cytotoxicity measurement of drug-loaded DDSs using MTT assay by both chemo- and chemo/hyperthermia-therapies. Owing to porous morphologies of the fabricated magnetic hydrogels according to scanning electron microscopy images and strong physicochemical interactions (e.g., hydrogen bonding) the drug loading capacities of the MH-1 and MH-2 were obtained as 72 ± 1.4 and 77 ± 1.8, respectively. The DDSs exhibited acceptable pH- and thermal-triggered drug release behaviors. The MTT assay results revealed that the combination of hyperthermia therapy and chemotherapy has synergic effect on the anticancer activities of the developed DDSs. 相似文献