Finite-time coordination in multiagent systems using sliding mode control approach

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.     

Epileptic seizure classification in EEG signals using second-order difference plot of intrinsic mode functions

Epilepsy is a neurological disorder which is characterized by transient and unexpected electrical disturbance of the brain. The electroencephalogram (EEG) is a commonly used signal for detection of epileptic seizures. This paper presents a new method for classification of ictal and seizure-free EEG signals. The proposed method is based on the empirical mode decomposition (EMD) and the second-order difference plot (SODP). The EMD method decomposes an EEG signal into a set of symmetric and band-limited signals termed as intrinsic mode functions (IMFs). The SODP of IMFs provides elliptical structure. The 95% confidence ellipse area measured from the SODP of IMFs has been used as a feature in order to discriminate seizure-free EEG signals from the epileptic seizure EEG signals. The feature space obtained from the ellipse area parameters of two IMFs has been used for classification of ictal and seizure-free EEG signals using the artificial neural network (ANN) classifier. It has been shown that the feature space formed using ellipse area parameters of first and second IMFs has given good classification performance. Experimental results on EEG database available by the University of Bonn, Germany, are included to illustrate the effectiveness of the proposed method.     

智能电动车辆横纵向协调与重构控制

针对具有高度非线性、强耦合和冗余特性的智能电动车辆运动控制问题,提出了一种由协调控制律和控制分配律组成的横纵向综合控制新方法.首先,建立准确表征智能电动车辆行为机理的动力学模型;其次,采用非奇异滑模控制技术,引入非线性滑动模态切换面,设计有效克服非线性及不确定特性的协调控制律,保证系统状态在有限时间内收敛至平衡点;在此基础上,考虑到轮胎存在冗余和耦合特性,提出基于内点法的控制分配算法来完成期望广义力/力矩的优化分配,实现轮胎横纵向力的协调与重构.仿真结果表明了该方法的有效性.     

EMD-IT去噪算法的阈值估计方法

为解决EMD-IT去噪算法中阈值难以确定的问题,提出一种基于高斯白噪声能量分布的阈值估计方法。将含噪信号进行经验模态分解并估计各固有模态函数(IMF)中噪声的能量;根据模态单元阈值的含义,在各IMF中利用去除掉的模态单元包含的总能量等于噪声能量这一准则估计阈值。合成数据和实际心电信号的去噪仿真实验验证了该方法的有效性,其是自适应的且避免了阈值选择的主观性。     

基于Profibus-DP总线技术的烟支重量控制系统设计

对烟支重量控制系统的控制原理做了较为详尽的描述,介绍了系统硬件组成和软件设计。系统可实时在线对高速烟支重量进行计算,及时准确剔除不合格烟支。通过Profibus-DP总线,烟支重量控制系统实现了与人机界面系统实时、可靠、高速通信,操作人员通过人机界面可以方便的调整控制参数,对设备进行维护。     

一种降压型开关电源芯片电路的研究与设计

设计了一款PWM控制模式降压式（buck）直流一直流转换器芯片。该芯片为电压反馈控制模式,内部补偿使得反馈控制有很好的线性和很快的负载响应而无需通过外部设计。芯片采用CMSC0．5μm BCD工艺实现。PSPICE仿真结果表明,输出电压只有大约50mY的纹波,静态电流为3mA左右。输出电压在低于0．5V时,芯片具有短路降频功能,工作频率由81KHz降到23KHz左右,输出负载由0．2A跳变到2A时具有很好的负载调整率,大约为0．2％,转换效率可以达到85％以上。     

氯化锂－水吸附式再循环型空调制冷系统性能研究

对氯化锂－水吸附式空调系统在再循环运行方式下的性能进行了模拟。分析了再生温度、热交换器效率及蒸发冷却器效率对性能的影响。与开式通风型空调制冷系统的制冷性能相比，再循环型空调制冷系统的制冷能力较大，但性能系数ＣＯＰ较小     

基于VPN的远程粮情检测系统通讯软件研究

针对本地化粮情检测系统实现远程操作,研究Winsock与VPN技术在系统通讯软件中的应用。VPN技术可以大幅降低搭建专网所需的网络设备成本与管理难度,使用Winsock技术可以提供完整的TCP/IP底层协议从而减少程序开发时间。本文设计一种基于VPN的远程粮情检测系统的通讯软件,在多线程下有效利用套接字的拥塞模式并完成网络状态自检,通过设置VPN客户端提升网络传输速度,实现系统通讯软件安全、可靠、快速的运行。     

基于HEVC的帧内快速模式选择算法

为了解决高效率视频编码(High Efficiency Video Coding,HEVC)复杂度过高的问题,基于粗粒度模式选择(Rough Mode Decision,RMD)过程提出一种降低编码复杂度的方法。该算法充分利用了RMD候选队列的相似程度和预测模式在方向上的相关性这两个特性,进一步减少了进入率失真优化过程(Rate Distortion Optimization,RDO)的预测模式数量,达到了降低编码复杂度的目的。实验结果表明,该算法在编码质量损失0.5%的情况下节省了近22%的编码时间。