含有状态时滞的时离散多智能体系统可控性研究

针对一类含有状态时滞的时离散多智能体系统,在固定拓扑条件下,研究了其可控性问题。在固定拓扑及领航者—跟随者结构下,即一个或多个智能体作为领航者,其余智能体作为跟随者,获得了系统可控的一些充分条件。在这些条件下,系统可以完成预期的编队控制。数字仿真结果验证了所得结论的有效性。     

基于ADAMS与K＆C试验的汽车操纵稳定性改进研究

针对某车型在样车道路试验中表现出操纵稳定性较差的情况,利用K＆C试验获取其与对标样车间悬架系统参数的差异,找出问题所在,制定了改进方案．经ADAMS仿真分析及试验验证,说明改进方案能使该车的操稳性能达到设计目标．     

欧氏空间上的双线性系统的梯度扩张

研究了欧氏空间上的双线性系统和它的梯度扩张系统的能控性之间的关系以及它们的能观测性之间的关系,证明了双线性系统的梯度扩张系统是能控的(或能观测的)当且仅当原双线性系统既是能控的,又是能观测的。     

多智能体系统能控性研究进展

能控性问题是多智能体协调控制领域中一个基本又十分重要的研究课题.本文对多智能体系统能控性问题的研究现状进行综述.介绍了多智能体能控性领域的基本问题和特点,并结合智能体自身动力学与邻居交互协议,从拓扑结构角度对该领域当前的研究热点和前沿进行分析阐述.进一步,对结构能控性的研究成果进行归纳总结,并对能观测性、可镇定性和复杂网络能控性等相关问题进行阐述.最后给出了仍需解决的问题和可能的研究方向.     

基于FPGA的可控ARM异常表设计实现

为了提高ARM处理器对异常的管理效率和异常的响应速度,在ARM中断向量表基础上,通过集成异常仲裁电路和可控制异常处理分支,提出了高效的可控ARM异常表及其实现方法。引入三级树状结构来表示可控ARM异常表和各类异常处理路径,通过改变异常处理分支实现异常表的可控制性。详细介绍了可控ARM异常表的实体定义、接口描述和实现算法。利用FPGA开发板对可控异ARM异常表进行功能仿真调试,验证了可控ARM异常表的正确性、可靠性和可控制性。     

On controllability of two-dimensional discrete-time bilinear systems

In this paper, controllability of two-dimensional discrete-time bilinear systems is studied. Sufficient conditions for the systems to be controllable are presented. In particular, the control inputs are computed to achieve the state transition for the controllable systems by using the root locus technique. Examples are also provided to illustrate the results of the paper.     

Approximate controllability of impulsive differential equations with state-dependent delay

In order to describe various real-world problems in physical and engineering sciences subject to abrupt changes at certain instants during the evolution process, impulsive differential equations have been used to describe the system model. In this article, the problem of approximate controllability for nonlinear impulsive differential equations with state-dependent delay is investigated. We study the approximate controllability for nonlinear impulsive differential system under the assumption that the corresponding linear control system is approximately controllable. Using methods of functional analysis and semigroup theory, sufficient conditions are formulated and proved. Finally, an example is provided to illustrate the proposed theory.     

On controllability and control laws for discrete linear repetitive processes

Repetitive processes are a distinct class of 2D systems (i.e. information propagation in two independent directions) of both systems theoretic and applications interest. They cannot be controlled by the direct extension of existing techniques from either standard (termed 1D here) or 2D systems theory. This article develops significant new results on the relationships between one physically motivated concept of controllability for the so-called discrete linear repetitive processes and the structure and design of control laws, including the case when disturbances are present.     

On the controllability and observability of discrete-time linear time-delay systems

This article studies the controllability and observability of discrete-time linear time-delay systems, so that the two properties can play a more fundamental role in system analysis before controller and observer design is engaged. Complete definitions of controllability and observability, which imply the stabilisability and detectability, respectively, and determine the feasibility of eigenvalue assignment, are proposed for systems with delays in both state variables and input/output signals. Necessary and sufficient criteria are developed to check the controllability and observability efficiently. The proofs are based on the equivalent expanded system, but the criteria only involve the delays and matrices of the same dimension as the original system. Finally, the duality between the suggested controllability and observability is presented.     

On the Role of Homogeneity When Controlling Single‐Leader Networks

This paper presents an approach to controlling agent positions in single‐leader networks to target points while explicitly taking agent homogeneity into account. When the capabilities of agents to accomplish tasks at each of the targets are identical, then the label of the target points may be permuted while still expressing the same intention. In single‐leader networks which are not completely controllable, such a permutation of the target points may at times move a target closer to the system's reachable subspace, thereby allowing the network to surpass the limitations on controllability when homogeneity is not considered explicitly. To fully exploit this property in homogeneous networks, it is then necessary to find the permutation of a target point which brings it closest to the reachable subspace. However, finding this optimal permutation is shown to be in general a non‐deterministic polynomial‐time (NP)‐hard problem. Specific network topologies are identified for when finding such an optimal permutation of a target point can be advantageous when controlling single‐leader networks. Moreover, an alternate view of the problem of finding optimal permutations is presented in which clustering‐based algorithms can be applied to find suboptimal solutions.