On input‐to‐state stability‐based design for leader/follower formation control with measurement delays

This paper addresses the design of low‐level controllers for leader–follower formations of nonholonomic vehicles in the presence of bounded measurement delays. The concept of input‐to‐state stability is extended to encompass the effect of bounded delays and restrictions on the input. A method is proposed to integrate a Smith predictor in a backstepping design on the basis of nested saturations and nonlinear small‐gain assignment, which allows for time delays in the feedback loop. Robustness analysis under uncertain bounded time delays is provided, and design tradeoffs resulting from the use of bounded controls are discussed. Illustrative simulations are shown to validate the design and robustness analysis in the context of a simple leader–follower trailing control problem. Copyright © 2012 John Wiley & Sons, Ltd.     

Dynamic evolution of collective emotions in social networks: a case study of Sina weibo

Emotion is a fundamental object of human existence and determined by a complex set of factors. With the rapid development of online social networks (OSNs), more and more people would like to express their emotion in OSNs, which provides wonderful opportunities to gain insight into how and why individual emotion is evolved in social network. In this paper, we focus on emotion dynamics in OSNs, and try to recognize the evolving process of collective emotions. As a basis of this research, we first construct a corpus and build an emotion classifier based on Bayes theory, and some effective strategies (entropy and salience) are introduced to improve the performance of our classifier, with which we can classify any Chinese tweet into a particular emotion with an accuracy as high as 82%. By analyzing the collective emotions in our sample networks in detail, we get some interesting findings, including a phenomenon of emotion synchronization between friends in OSNs, which offers good evidence for that human emotion can be spread from one person to another. Furthermore, we find that the number of friends has strong correlation with individual emotion. Based on those useful findings, we present a dynamic evolution model of collective emotions, in which both self-evolving process and mutual-evolving process are considered. To this end, extensive simulations on both real and artificial networks have been done to estimate the parameters of our emotion dynamic model, and we find that mutual-evolution plays a more important role than self-evolution in the distribution of collective emotions. As an application of our emotion dynamic model, we design an efficient strategy to control the collective emotions of the whole network by selecting seed users according to k-core rather than degree.     

Adaptive Decentralized NN Control of Nonlinear Interconnected Time‐Delay Systems with Input Saturation

In this paper, a novel decentralized adaptive neural control scheme is proposed for a class of interconnected large‐scale uncertain nonlinear time‐delay systems with input saturation. Radial basis function (RBF) neural networks (NNs) are used to tackle unknown nonlinear functions. Then, the decentralized adaptive NN tracking controller is constructed by combining Lyapunov–Krasovskii functions and the dynamic surface control (DSC) technique, along with the minimal‐learning‐parameters (MLP) algorithm. The stability analysis subject to the effect of input saturation constraints are conducted with the help of an auxiliary design system based on the Lyapunov–Krasovskii method. The proposed controller guarantees uniform ultimate boundedness (UUB) of all of the signals in the closed‐loop large‐scale system, while the tracking errors converge to a small neighborhood around the origin. An advantage of the proposed control scheme lies in the number of adaptive parameters of the whole system being reduced to one and in the solution of the three problems of “computational explosion,” “dimension curse,” and “controller singularity”. Finally, simulation results along with comparisons are presented to demonstrate the advantages, effectiveness, and performance of the proposed scheme.     

Stabilization of One‐Dimensional Schrödinger Equation with Variable Coefficient under Delayed Boundary Output Feedback

This article considers stabilization of a one‐dimensional Schrödinger equation with variable coefficient and boundary observation which suffers from an arbitrary given time delay. We design an observer and predictor to stabilize the system. The state is estimated in the time span where the observation is available, and also predicted in the time interval where the observation is not available. It is shown that the estimated state feedback stabilizes the system exponentially. A numerical simulation is presented to illustrate the effect of the stabilizing controller.     

Dynamic Output Feedback Consensualization of Uncertain Swarm Systems with Time Delays

Consensus analysis and design problems of high‐dimensional discrete‐time swarm systems in directed networks with time delays and uncertainties are dealt with by using output information. Two subspaces are introduced, namely a consensus subspace and a complement consensus subspace. By projecting the state of a swarm system onto the two subspaces, a necessary and sufficient condition for consensus is presented, and based on different influences of time delays and uncertainties, an explicit expression of the consensus function is given which is very important in applications of swarm systems. A method to determine gain matrices of consensus protocols is proposed. Numerical simulations are presented to demonstrate theoretical results.     

Robust Absolute Stability Analysis of Multiple Time‐Delay Lur'e Systems With Parametric Uncertainties

The problem of robust absolute stability for time‐delay Lur'e systems with parametric uncertainties is investigated in this paper. The nonlinear part of the Lur'e system is assumed to be both time‐invariant and time‐varying. The structure of uncertainty is a general case that includes norm‐bounded uncertainty. Based on the Lyapunov–Krasovskii stability theory, some delay‐dependent sufficient conditions for the robust absolute stability of the Lur'e system will be derived and expressed in the form of linear matrix inequalities (LMIs). These conditions reduce the conservativeness in computing the upper bound of the maximum allowed delay in many cases. Numerical examples are given to show that the proposed stability criteria are less conservative than those reported in the established literatures.     

Quantized H∞ Control for Networked Systems with Communication Constraints

The problem of quantized H_∞ control for networked control systems (NCSs) subject to time‐varying delay and multiple packet dropouts is investigated in this paper. Both the control input and the measurement output signals are quantized before being transmitted and the quantized errors are described as sector bound uncertainties. The measurement channel and the control channel packet dropouts are considered simultaneously, and the stochastic variables satisfying Bernoulli random binary distribution are utilized to model the random multiple packet dropouts. Sufficient conditions for the existence of an observer‐based controller are established to ensure the exponential mean‐square stablility of the closed‐loop system and achieve the optimal H_∞ disturbance attenuation level. By using a globally convergent algorithm involving convex optimization, the nonconvex feasibility can be solved successfully. Finally, a numerical example is given to illustrate the effectiveness and applicability of the proposed method.     

Apache Web服务器中基于LTI模型的多服务类别比例延迟控制

通过系统辨识建立了Apache Web服务器的线性时不变(LTI>模型,用于描述两类Web客户连接的连接延迟比与服务线程比间的关系,并针对此L"I'I模型,设计了一个控制器。此控制器通过动态分配服务于不同类别连接的服务线程的数量,可实现Wcb服务器端的比例延迟保证,并进一步将此区分服务的控制模型扩展到了面向多个连接类别,通过多个控制器实现了相部两个客户连接类别的比例延迟保证。仿真表明,即使过载状态下并发客户连接的数目急剧变化,闭环系统中的Wcb服务器也能为多个客户连接类别提供比例延迟保证。     

基于RTLinux的实时以太网研究

首先论述了以太网的应用和实时化改进技术;然后在研究造成网络通信延迟的三个因素的基础上,提出了基于RTLinux的实时以太网的实现技术,具体描述了其关键技术,包括多队列数据交换机制、基于地址映射表的缓冲区管理机制和数据帧小型化机制。