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.     

双向旋转梯形槽干气密封流场的数值模拟

介绍一种用作抑制密封的新型泵用双向旋转梯形槽干气密封,并定义了该密封的主要几何结构参数.基于气体润滑理论,建立了梯形槽干气密封端面流场的数值计算模型.利用Fluent软件对流场进行数值模拟,获得了端面气膜压力分布、气流速度场、开启力及泄漏率等数据,并分析了端面槽深、槽宽比、吸入角和槽长坝长比对端面开启力、泄漏率这2个主要密封性能参数的影响规律,发现该密封的开启力与泄漏率均随槽深、槽宽比和槽长坝长比的增大而增大,随吸入角的增大而减小.研究结果为双向旋转梯形槽干气密封的设计和进一步研究提供了参考.     

Semi‐global and global containment control of multi‐agent systems with second‐order dynamics and input saturation

This paper considers both semi‐global and global containment control for a second‐order multi‐agent system that is composed by a network of identical harmonic oscillators or double integrators with multiple leaders and input saturation. A distributed low gain feedback algorithm is proposed to solve the semi‐global containment control problem for the network whose topology is directed and initial condition is taken from any a priori given bounded set. In particular, by using a parametric Lyapunov equation approach, M‐matrix properties and algebraic graph theory, an upper bound of the low gain parameter is estimated such that the low gain feedback matrix can be analytically determined without involving numerical computation. Furthermore, under the assumption that the induced subgraph formed by the followers is strongly connected and detail balanced, two linear feedback protocols are designed for coupled harmonic oscillators and coupled double integrators, respectively, to asymptotically achieve the global containment control of the network with any initial condition. Finally, numerical examples are given to illustrate the effectiveness of the theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.     

Independence of Containing Patterns Property and Its Application in Tree Pattern Query Rewriting Using Views

We show that several classes of tree patterns observe the independence of containing patterns property, that is, if a pattern is contained in the union of several patterns, then it is contained in one of them. We apply this property to two related problems on tree pattern rewriting using views. First, given view V and query Q, is it possible for Q to have an equivalent rewriting using V which is the union of two or more tree patterns, but not an equivalent rewriting which is a single pattern? This problem is of both theoretical and practical importance because, if the answer is no, then, to find an equivalent rewriting of a tree pattern using a view, we should use more efficient methods, such as the polynomial time algorithm of Xu and Özsoyoglu (2005), rather than try to find the union of all contained rewritings (which takes exponential time in the worst case) and test its equivalence to Q. Second, given a set S of views, we want to know under what conditions a subset S′ of S is redundant in the sense that for any query Q, the contained rewritings of Q using the views in S′ are contained in those using the views in S???S′. Solving this problem can help us to, for example, choose the minimum number of views to be cached, or better design the virtual schema in a mediated data integration system, or avoid repeated calculation in query optimization. For the first problem, we identify several classes of tree patterns for which the equivalent rewriting can be expressed as a single tree pattern. For the second problem, we present necessary and sufficient conditions for S′ to be redundant with respect to some classes of tree patterns. For both problems we consider extension to cases where there are rewritings using the intersection of multiple views and/or where a schema graph is present.     

PDE-based event-triggered containment control of multi-agent systems with input delay under spatial boundary communication

This article studies the containment control problem for multi-agent systems with input delay under spatial boundary communication by employing an event-based approach. Firstly, the collective dynamics of multi-agent systems are described as parabolic partial differential equations (PDEs). Applying the integral transformation method developed in PDEs, the delayed parabolic PDEs are transformed into a series of new coupled PDE-PDE systems. Then, by taking the spatial boundary communication scheme into account and using the local boundary information, two boundary containment control protocols together with a dynamic event-triggered scheme (DETS) are designed, such that the states of all followers converge to a convex hull formed by multiple leader agents with and without input delay. The optimal protocols are given by minimizing the 2-norm of the designed control gain matrix, and the exclusion of the Zeno behavior is analyzed. Finally, a numerical simulation example is provided to support the main results.     

Fault containment in weakly stabilizing systems

Research on fine tuning stabilization properties has received attention for more than a decade. This paper presents probabilistic algorithms for fault containment. We demonstrate two exercises in fault containment in a weakly stabilizing system, which expedite recovery from single failures, and confine the effect of any single fault to the constant-distance neighborhood of the faulty process. The most significant aspect of the algorithms is that the fault gap, defined as the smallest interval after which the system is ready to handle the next single fault with the same efficiency, is independent of the network size. We argue that a small fault gap increases the availability of the fault-free system.     

Containment control of multi-agent systems with unbounded communication delays

In this paper, we address the containment control problem for multi-agent systems under heterogeneous unbounded communication delays with emphasis on the convergence rate analysis. Different from most works on multi-agent systems, we resort to a viewpoint from the area of positive delay systems. We first cast the containment control problem into the stability analysis of an associated error system. In order to capture the convergence rate, we introduce a nondecreasing positive function whose reciprocal represents the decay rate of the associated error system. Under the assumption that each follower has access to at least one leader and some mild hypotheses on the communication delays, an explicit condition is given to characterise the decay rate of the associated error system in terms of linear programming. In addition, we provide several special cases when the communication delays are restricted by linear, sublinear and logarithmic growth rates, respectively. Finally, through numerical examples, it is shown that the convergence rate is dominated by the delays being the highest order infinitely large quantity.     

A low‐complexity design for distributed containment control of networked pure‐feedback systems and its application to fault‐tolerant control

This paper addresses a low‐complexity distributed containment control problem and its extension to fault‐tolerant control for networked nonlinear pure‐feedback systems under a directed graph. The multiple dynamic leaders are neighbors of only a subset of the followers described by completely non‐affine multi‐input multi‐output pure‐feedback dynamics. It is assumed that all followers' nonlinearities are heterogeneous and unknown. The proposed containment controller is implemented by using only error surfaces integrated by performance bounding functions and does not require any differential equations for compensating uncertainties and faults. Thus, compared with the previous containment control approaches for multi‐agent systems with unknown non‐affine nonlinearities, the distributed containment control structure is simplified. In addition, it is shown that the proposed control scheme can be applied to the fault‐tolerant containment control problem in the presence of unexpected system and actuator faults, without reconstructing any control structure. It is shown from Lyapunov stability theorem that all followers nearly converge to the dynamic convex hull spanned by the dynamic leaders and the containment control errors are preserved within certain given predefined bounds. Copyright © 2016 John Wiley & Sons, Ltd.     

Coordinated control with multiple dynamic leaders for uncertain Lagrangian systems via self‐tuning adaptive distributed observer

This paper studies coordinated control of multiple Lagrangian systems with parametric uncertainties subject to external disturbances by proposing a fully distributed continuous control law based on the improved self‐tuning adaptive observer inspired by non‐identifier‐based high‐gain adaptive control technique. Under this distributed continuous control law, a group of Lagrangian systems are driven to the convex hull spanned by multiple heterogenous dynamic leaders, which can be any combination of step signals of arbitrary unknown magnitudes, ramp signals of arbitrary unknown slopes, and sinusoidal signals of arbitrary unknown amplitudes, initial phases, and any unknown frequencies. It is also worth to mention that this control law we propose, depending neither on any information of leader systems for uninformed followers, nor on external disturbances, even independent of neighbors' velocity, can achieve asymptotic tracking of multiple leaders without any additional condition instead of ensuring the ultimate boundedness of the containment error as in the literature. Copyright © 2016 John Wiley & Sons, Ltd.     

Web服务的控制集成

在软件集成的研究中,控制集成是一个重要的组成部分,研究了Web服务的控制集成,提出了Web服务的包容模型与聚合模型,包容模型使用容器对Web服务进行封装,对外提供统一的服务访问接口,Web服务消费者通过该接口访问Web服务;聚合模型使用聚合器对Web服务进行管理,聚合器本身不参与Web服务调用,它向Web服务消费者提供Web服务的链接,Web服务消费者在从聚合器处获得链接后再访问相应的服务,其成果已经在一个原型系统中得到了验证.