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Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 150-157页

作者： Yanxu Su qingling wang Changyin Sun School of Automation Southeast UniversityNanjing 210096and also with the Key Laboratory of Measurement and Control of Complex System of EngineeringMinistry of EducationSoutheast UniversityNanjing 210096China

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

关键词： Input saturation linear matrix inequalities(LMIs) multi-agent systems(MASs) self-triggered control

Adaptive Sensor-Fault Tolerant Control of Unmanned Underwater Vehicles With Input Saturation

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 907-918页

作者： Xuerao wang qingling wang Yanxu Su Yuncheng Ouyang Changyin Sun the School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technologyand the Anhui Provincial Engineering Research Center for Unmanned System and Intelligent TechnologyMinistry of EducationAnhui UniversityHefei 230601China the School of Automation Southeast UniversityNanjing 210096China

This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean *** active sensor fault-tolerant control scheme is ***,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor ***,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback *** is shown that the effect of sensor faults is online estimated and compensated by an adaptive *** the proposed controller,the tracking error and estimation error can asymptotically converge to ***,simulation results are performed to demonstrate the effectiveness of the proposed method.

关键词： Asymptotic stability fault-tolerant control input saturation robust integral of the sign of error unmanned underwater vehicle

The Expression and Location of Midkine in Gastric Carcinomas of Chinese Patients

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Cellular & Molecular Immunology 2007年第2期4卷 135-140页

作者： Yaling Huang Guochun Cao Hui wang qingling wang Yayi Hou Immunology and Reproduction Biology Lab Medical School ＆ State Key Laboratory of Pharmaceutical Biotechnology Nanjing University Nanjing 210093 China

Midkine （MK）, a heparin-binding growth factor, can regulate cell growth, survival and differentiation. MK is expressed at high levels in a variety of human carcinomas. Recently, the urine and serum MK concentration was analyzed in gastric cancer patient. However, the association of the cytokine mRNA expression with the categorical clinicopathological variables of the tumors and the location of its protein expression in the tumor tissues are still elusive. MK mRNA expression from the surgically resected specimens of healthy gastric tissues （9 cases）, gastric cancer tissues and the matched non-cancerons tissues adjacent to the cancer （37 cases） were assessed by reverse transcriptase-polymerase chain reaction （RT-PCR） and real-time PCR. Immunohistochemical analysis was performed to locate MK in gastric cancer. The expression of MK mRNA in gastric cancer was much higher in tumor tissues than that in the non-cancerons tissues and control tissue samples. And its expression was significantly associated with the pTNM stage and distant metastasis, but not with the differentiation grade, tumor size and nodal involvement. MK protein was ubiquitous in the tumor, especially in the adenoid part of tumors. In addition, it was found in the cytoplasm of tumor cells and highly concentrated in nucleus and nucleolns. The expression level and location of MK in gastric tumor tissues of Chinese Patients may be related to the tumor genesis and progression. Further study is necessary on the mechanism of MK in gastric tumorigenesis and tumor growth.

关键词： midkine gastric cancer RT-PCR real-time PCR immunohistochemical analysis

A Mechanical Single-molecule Potentiometer Based on Foldamer

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Chemical Research in Chinese Universities 2021年第2期37卷 335-336页

作者： ZHAO Zhikai wang qingling XIANG Dong Tianjin Key Laboratory of Micro-scale Optical Information Science and Technology Institute of Modern OpticsNankai UniversityTianjin300350P.R.China

Molecular potentiometers that can indicate displacement-conductance relationship and predict the molecular conductance are of significant importance towards the real application of molecule-based devices but rarely developed so *** this end,Li et *** a single-molecule potentiometer based on ortho-pentaphenylene *** demonstrated that these pseudoelastic molecules can be stretched and compressed by the mechanical force of the Au electrode along with a dramatically variable conductance by up to two orders of magnitude,demonstrating the great potential as angstrom-scale single-molecule *** work has been published in Nature Communications,2021.

关键词： electrode displacement potential

Convergence of time-varying net works and its applications

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Frontiers of Information Technology & Electronic Engineering 2021年第1期22卷 88-96页

作者： qingling wang School of Automation Southeast UniversityNanjing 210096China

In this study,we present the convergence of time-varying net ***,we apply the convergence property to cooperative control of nonlinear multiagent systems(MASs)with unknown control directions(UCDs),and illustrate a new kind of Nussbaum-type function based control *** is proven that if the time-varying net works are cut-balance,the convergence of nonlinear MASs with nonidentical UCDs is achieved using the presented algorithms.A critical feature of this application is that the designed algorithms can deal with nonidentical UCDs by employing conventional Nussbaum-type ***,one simulation example is given to illustrate the effectiveness of the presented algorithms.

关键词： Time-varying networks Unknown control directions Nussbaum-type function Cut-balance condition

Adaptive tracking control of high-order MIMO nonlinear systems with prescribed performance

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Frontiers of Information Technology & Electronic Engineering 2021年第7期22卷 986-1001页

作者： Xuerao wang qingling wang Changyin SUN School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China

In this paper,an observer-based adaptive prescribed performance tracking control scheme is developed for a class of uncertain multi-input multi-output nonlinear systems with or without input saturation.A novel finite-time neural network disturbance observer is constructed to estimate the system uncertainties and external *** guarantee the prescribed performance,an error transformation is applied to transfer the time-varying constraints into a constant ***,by employing a barrier Lyapunov function and the backstepping technique,an observer-based tracking control strategy is *** is proven that using the proposed algorithm,all the closedloop signals are bounded,and the tracking errors satisfy the predefined time-varying performance ***,simulation results on a quadrotor system are given to illustrate the effectiveness of the proposed control scheme.

关键词： Adaptive tracking control Prescribed performance Input saturation Disturbance observer Neural network

Biological roles and potential clinical values of circular RNAs in gastrointestinal malignancies

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Cancer Biology & Medicine 2021年第2期18卷 437-457页

作者： Xueping Tao Yongfu Shao Jianing Yan Liyang Yang Qihua Ye qingling wang Rongdan Lu Junming Guo Department of Biochemistry and Molecular Biology and Zhejiang Key Laboratory of Pathophysiology Ningbo University School of MedicineNingbo 315211China Department of Gastroenterology the Affiliated Hospital of Medical School of Ningbo UniversityNingbo 315020China

Circular RNAs(circ RNAs),a class of endogenous RNA molecules,are produced by alternative splicing of precursor RNA and are covalently linked at the 5′and 3′*** studies have revealed that dysregulated circ RNAs are closely related to the occurrence and progression of gastrointestinal *** evidence indicates that circ RNAs,including circ PVT1,circ LARP4,circ-SFMBT2,cir-ITCH,circ RNA_100782,circ_100395,circ-DONSON,hsa_circ_0001368,circ NRIP1,circ FAT1(e2),circ CCDC66,circ SMARCA5,circ-ZNF652,and circ_0030235 play important roles in the proliferation,differentiation,invasion,and metastasis of cancer cells through a variety of mechanisms,such as acting as micro RNA sponges,interacting with RNA-binding proteins,regulating gene transcription and alternative splicing,and being translated into *** the characteristics of high abundance,high stability,extensive functions,and certain tissue-,time-and diseasespecific expressions,circ RNAs are expected to provide novel perspectives for the diagnoses and treatments of gastrointestinal malignancies.

关键词： Circular RNA gastrointestinal malignancies biological function clinical value digestive system

Robust distributed model predictive consensus of discrete-time multi-agent systems:a self-triggered approach

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Frontiers of Information Technology & Electronic Engineering 2021年第8期22卷 1068-1079页

作者： Jiaqi LI qingling wang Yanxu SU Changyin SUN School of Cyber Science and Engineering Southeast UniversityNanjing 210096China School of Automation Southeast UniversityNanjing 210096China

This study investigates the consensus problem of a nonlinear discrete-time multi-agent system(MAS)under bounded additive *** propose a self-triggered robust distributed model predictive control consensus algorithm.A new cost function is constructed and MAS is coupled through this *** on the proposed cost function,a self-triggered mechanism is adopted to reduce the communication ***,to overcome additive disturbances,a local minimum-maximum optimization problem under the worst-case scenario is solved iteratively by the model predictive controller of each *** conditions are provided to guarantee the iterative feasibility of the algorithm and the consensus of the closed-loop *** each agent,we provide a concrete form of compatibility constraint and a consensus error terminal *** examples are provided to illustrate the effectiveness and correctness of the proposed algorithm.

关键词： Consensus Self-triggered control Distributed model predictive control

Correlation and Significance of Midkine and Estrogen Receptor Beta Protein Expression in Non-Small Cell Lung Cancer

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Chinese Journal of Clinical Oncology 2008年第6期5卷 418-423页

作者： Shihua Zhang Guangfeng Zhao qingling wang Kaihua Lu Yayi Hou Immunology and Reproduction Biology Laboratory Medical School ＆ State Key Laboratory of Pharmaceutical Biotechnology Nanjing University Nanjing 210093 Jiangsu Province China The People＇s Hospital of Jiangsu Province Nanjing 210029 Jiangsu Province China Jiangsu Key Laboratory of Molecular Medicine Nanjing 210093 Jiangsu Province China

OBJECTIVE Midkine (MK),a new member of the heparin-binding growth factor family,was found recently to have a highexpression level in many carcinoma specimens,including thoseof the esophagus,gall bladder,pancreas,colorectum,breast *** receptor beta (ER-β),a recently cloned estrogenreceptor subtype,was also found to be highly expressed in lungtumor tissue,in contrast to a lower level of expression in normallung ***,few relevant studies on these proteins havebeen *** aims of our study were to investigate theexpression of midkine and ER-β proteins in non-small cell lungcancer (NSCLC) and to examine the relationship between theirexpression and the clinicopathologic data as well as to analyse thecorrelation of their expression in *** By immunohistochemistry,MK and ER-β were ex-amined in 24 surgically resected cases of NSCLC with their corre-sponding paraneoplastic and normal lung *** MK and ER-β were overexpressed in *** of MK and ER-β expression in NSCLC were found to be sig-nificantly negatively correlated with the pathological classification(P=0.042 and 0.021,respectively),and their expression decreasedwith a raise in the ***'s correlation analysisshowed that the correlation of their expression in NSCLC wasstrong (correlation coefficient[r_s]= 0.535,P=0.007<0.01).CONCLUSION The expression levels of MK and ER-β to someextent reflect the malignant degree of NSCLC,and their combineddetection may be of great value in early diagnosis,treatments ofpatients with NSCLC and can predict the prognoses.

关键词： midkine (MK) estrogen receptor beta (ER-β) non-small cell lung cancer (NSCLC) immunohistochemistry.