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991.
Flocking of multi‐agent nonholonomic systems with unknown leader dynamics and relative measurements
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Xiao‐Wen Zhao Zhi‐Hong Guan Juan Li Xian‐He Zhang Chao‐Yang Chen 《国际强度与非线性控制杂志
》2017,27(17):3685-3702
》2017,27(17):3685-3702
In this paper, we consider the distributed flocking control problem of multi‐agent nonholonomic systems with a virtual leader whose dynamics is unknown; state information is time varying and not available to all agents under both fixed and switching topologies. On the basis of the relative velocity and orientation information of neighboring agents, two distributed discontinuous control protocols are designed for fixed and switching topologies, respectively. By using tools from algebraic graph theory and nonsmooth analysis, the proposed distributed discontinuous control protocols guarantee that the velocities and orientations of the agents exponentially converge to the velocity and orientation of the virtual leader, respectively, while ensuring collision avoidance of the whole group, if the interaction graph among agents is undirected and the virtual leader with bounded time‐varying velocity has directed paths to other agents. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献
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以运城学院在校大学生为例,对其消费情况进行了抽样调查,并利用K-means算法对调查结果进行了聚类和分析.实验结果表明,每一类学生中影响其消费的因素是有差别的,该分析结果可作为指导各类学生消费的依据. 相似文献
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为了更好地了解流控制协议—SCTP的相关性能,利用NS-2网络仿真软件,从单路径和多路径两个方面对TCP和SCTP协议进行了比较。实验结果表明,在应对链路恶化的情况下,SCTP协议的吞吐量更大,也具有更高的稳定性,更能满足现在网络高性能传输的要求。 相似文献
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This paper describes a novel linearly-weighted gradient smoothing method (LWGSM). The proposed method is based on irregular cells and thus can be used for problems with arbitrarily complex geometrical boundaries. Based on the analysis about the compactness and the positivity of coefficients of influence of their stencils for approximating a derivative, one favorable scheme (VIII) is selected among total eight proposed discretization schemes. This scheme VIII is successively verified and carefully examined in solving Poisson equations, subjected to changes in the number of nodes, the shapes of cells and the irregularity of triangular cells, respectively. Strong form of incompressible Navier–Stokes equations enhanced with artificial compressibility terms are tackled, in which the spatial derivatives are approximated by consistent and successive use of gradient smoothing operation over smoothing domains at various locations. All the test cases using LWGSM solver exhibits its robust, stable and accurate behaviors. The attained incompressible LWGSM solutions show good agreements with experimental and literature data. Therefore, the proposed LWGSM can be reliably used for accurate solutions to versatile fluid flow problems. 相似文献
998.
The paper presents a method of development of a detailed network model to represent retinal capillary vasculature. The capillary model is a circular mesh consisting of concentric rings with an increasing diameter. Each of the rings has uniformly distributed bifurcation nodes to represent capillary vessels. The model is customized using the data that has been measured from confocal microscopic images of a mouse retina. The capillary model developed can be connected to networks of larger vessels of the vasculature such as arterial and venous networks to form a complete model of the retinal network. A method to automate such interface connections between capillary and other vascular networks using connecting vessels (i.e., pre-capillary and post-capillary) is also presented in the paper. Such a detailed image-based capillary model together with the arterial and venular networks can be used for various circulation simulations to obtain accurate information on hemodynamic quantities such as the spatial distribution of pressure and flow in the vasculature for both physiological and pathological conditions. The method presented for the development of the capillary model can also be adopted for vasculatures of other organs. 相似文献
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