Containment control of multi‐agent systems by exploiting the control inputs of neighbors

This paper studies the containment control problem for multi‐agent systems consisting of multiple leaders and followers connected as a network. The objective is to design control protocols so that the leaders will converge to a certain desired formation while the followers converge to the convex hull of the leaders. A novel protocol is proposed by exploiting the control input information of neighbors. Both continuous‐time and discrete‐time systems are considered. For continuous‐time systems, it is proved that the protocol is robust to any constant delays of the neighbors' control inputs. For discrete‐time systems, a sufficient condition on the feedback gain for the containment control is given in terms of the time delay and graph information. Some numerical examples are given to demonstrate the results. Copyright © 2013 John Wiley & Sons, Ltd.     

Adaptive neural network control of bilateral teleoperation with unsymmetrical stochastic delays and unmodeled dynamics

In this paper, adaptive NN control is proposed for bilateral teleoperation system with dynamic uncertainties, unknown external disturbances, and unsymmetrical stochastic delays in communication channel to achieve transparency and robust stability. Compared with previous passivity‐based teleoperation framework, the communication delays are unsymmetrical and stochastic. By partial feedback linearization using nominal dynamics, the nonlinear dynamics of the teleoperation system are transformed into two subsystems: local master/slave dynamics control and time‐delay motion tracking. By integrating Markov jump systems and adaptive parameters updating, adaptive NN control strategy is developed. The stability of the closed‐loop system and the boundedness of tracking errors are proved using Lyapunov–Krasovskii functional synthesis under specific linear matrix inequalities conditions. The proposed adaptive NN control is robust against motion disturbances, parametric uncertainties, and unsymmetrical stochastic delay, which effectiveness is validated by extensive simulation studies. Copyright © 2013 John Wiley & Sons, Ltd.     

Non‐fragile H ∞ control for switched stochastic delay systems with application to water quality process

In this paper, the problem of non‐fragile observer‐based H _∞ control for discrete‐time switched delay systems is investigated. Both data missing and time delays are taken into account in the links from sensors to observers and from controllers to actuators. Because data missing satisfies the Bernoulli distribution, such problem is transformed into an H _∞ control problem for stochastic switched delay systems. Average dwell time approach is used to obtain sufficient conditions on the solvability of such problems. A numerical example and a real example for water quality control are provided to illustrate the effectiveness and potential applications of the proposed techniques. Copyright © 2013 John Wiley & Sons, Ltd.     

A new result on the delay‐dependent stability of discrete systems with time‐varying delays

This paper proposes an improvement to the delay‐dependent stability of discrete systems with time‐varying delays. The approach is based on the observation that the positive definiteness of a chosen Lyapunov–Krasovskii functional does not necessarily require all the involved symmetric matrices to be positive definite, which has been overlooked in the literature. The derived delay‐dependent stability conditions are in terms of linear matrix inequalities. It is theoretically proved that our results are less conservative than the corresponding ones obtained by requiring the positive definiteness of all the symmetric matrices in a chosen Lyapunov–Krasovskii functional. The importance of the present approach is that a great number of delay‐dependent analysis and synthesis results obtained by the aforementioned requirement in the literature can be improved by the present approach without introducing any new decision variables. Copyright © 2013 John Wiley & Sons, Ltd.     

视频服务器拥塞控制算法的研究与实现

分析现有网络拥塞控制算法的优缺点,在此基础上,根据多媒体数据和嵌入式设备的特点提出改进的基于视频服务器的拥塞控制算法。此算法以UDP协议为基础,通过控制传输速率来降低丢包率和网络时延,提高了嵌入式设备的多媒体数据传输质量。同时,将此算法应用于基于TMS320DM6467T硬件开发平台和Linux操作系统的视频服务器上,并通过实验验证了算法的可靠性与实用性。     

三参量模型粘弹性圆柱体轴向流动中的动力特性

对悬臂粘弹性圆柱体轴向流动中的动力特性进行了研究,计算模型采用三参量模型,对特征方程进行了推导,给出了在质量比β(β=0.5)一定,改变无量纲延滞时间α和无量纲弹性系数比λ的情况下,悬臂三参量模型粘弹性圆柱体的前三阶模态无量纲复频率ω的实部及虚部与无量纲流速v之间的关系曲线图.研究结果表明:在无量纲弹性系数比λ和质量比β一定时,随着无量纲延滞时间α的增加,及在无量纲延滞时间α和质量比β一定时,随着无量纲弹性系数比λ的增加,第一阶模态发生单一模态颤振及再次稳定的无量纲临界流动速度都在减小.     

DTN中基于二分散发和等待路由的自适应拥塞控制策略

针对二分散发和等待路由中报文被转发的特点,提出节点首先通过应答交换机制丢弃已被递交到信宿节点的报文,来减少网络中冗余报文的传输;当节点缓存完全占用又需存储新报文时,执行拥塞检测和拥塞避免操作,遍历缓存,找到缓存中拷贝数最小的报文将其丢弃（若此报文正在被传输则丢弃拷贝数次小的报文）直至有足够的缓存空间存储新接收到的报文。通过大量仿真实验及相关数据的分析与比较,说明该拥塞策略能显著提高递交率,减小开销,并对拥塞状况有更好的自适应能力。     

移动容迟传感网络拓扑覆盖建模与统计特征*

移动容迟传感网络的拓扑覆盖研究对于相关工程系统设计具有重要意义。针对当前研究没有很好地刻画区域动态覆盖特征的问题,提出基于排队网络的建模方法。进而利用随机几何学和排队论方法,以定理形式提出关于二维平面上区域覆盖的首达时间、覆盖度分布等统计特征的理论结果。结合典型移动场景,仿真验证了上述结果的合理性和应用价值。     

DTN中基于服务等级的Push-Pull拥塞控制研究*

提出了一种基于服务等级的拥塞控制机制,通过为后续高优先级业务预留缓存资源的方法来减小容迟网络(DTN)中由于保管传输协议造成节点缓存资源的耗尽而引起的网络拥塞,从而改善服务质量。仿真结果表明,该拥塞控制方法在缓解网络拥塞的同时可以有效改善高优先级业务的传输性能,但其在一定程度上牺牲了低优先级业务的服务质量。     

一种基于TCP的实时视频传输延时预测模型*

针对TCP重传易导致延时抖动大、降低流媒体播放质量的问题,提出了使用TCP传输实时视频时,播放质量不受TCP重传影响的必要条件,即视频帧发送延时、播放缓冲区延时与网络往返时间需要满足一定的关系式。建立了视频帧发送延时的预测模型,该模型通过输入视频帧长度、丢包率、网络往返时间、TCP拥塞窗口大小与TCP超时重传时间,预测视频帧的发送延时。NS2模拟结果表明,可以通过发送延时的预测值来判断视频帧是否适合采用TCP传输。