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Prescribed-time leader-following consensus of linear multi-agent systems by bounded linear time-varying protocols

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Science China(Information Sciences) 2024年第1期67卷 140-153页

作者： Kai ZHANG Bin ZHOU Xuefei YANG Guangren DUAN center for Control Theory and guidance Technology Harbin Institute of Technology

This paper considers the prescribed-time leader-following consensus problem of input-constrained linear multi-agent systems under generally directed communication topology in two cases:the Laplacian matrix related to the entire communication topology between agents is either known or *** particular,the consensus problem for the former case is solved by a novel bounded linear time-varying(LTV) protocol,where the feedback gain is formulated by the parametric Lyapunov equation and the knowledge of the Laplacian ***,by utilizing a distributed observer,a fully bounded LTV protocol is proposed for the latter *** should be noted that,compared with the existing results,the system under consideration is more general,the designed protocols are linear,and the consensus problem is accomplished even in a fully distributed ***,the effectiveness of the proposed approach is verified by a numerical example.

关键词： leader-following consensus time-vary feedback prescribed-time control fully distributed consensus

A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： Guang-Ren DUAN center for Control Theory and guidance Technology Harbin Institute of Technology center for Control Science and Technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-Ren DUAN center for Control Theory and guidance Technology Harbin Institute of Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1711-1713页

作者： Da-Wei Zhang Guo-Ping Liu IEEE the center for Control Theory and guidance Technology Harbin Institute of TechnologyHarbin 150001China the center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use... 详细信息

关键词： Observer Uncertain letter

Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of Engineering Qufu Normal UniversityRizhao 276826China center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 center for Control Theory and guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation Engineering The Hong Kong Polytechnic University center for Control Theory and guidance Technology Harbin Institute of Technology School of Engineering The University of Newcastle Research center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

Quasinormal modes and ringdown waveforms of a Frolov black hole

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Communications in Theoretical Physics 2024年第10期76卷 101-107页

作者： Zhijun Song Huajie Gong Hai-Li Li Guoyang Fu Li-Gang Zhu Jian-Pin Wu center for Gravitation and Cosmology College of Physical Science and Technology Yangzhou University Basic teaching Department Shenyang Institute of Engineering Department of Physics and Astronomy Shanghai Jiao Tong University

In this paper we investigate scalar perturbation over a Frolov black hole（BH）, which is a regular BH induced by the quantum gravity effect. The quasinormal frequencies of a scalar field always consistently reside in the lower half-plane, and the time-domain evolution of the field demonstrates a decaying behavior, with the late-time tail exhibiting a power-law pattern. These observations collectively suggest the stability of a Frolov BH against scalar ***, our study reveals that the quantum gravity effect leads to slower decay modes. For the case of the angular quantum number l = 0, the oscillation exhibits non-monotonic behavior with the quantum gravity parameter α0. However, once l ≥ 1, the angular quantum number surpasses the influence of the quantum gravity effect.

关键词： black hole Frolov black hole quantum gravity effects quasinormal modes

Strong invariance principle for a counterbalanced random walk

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Applied Mathematics(A Journal of Chinese Universities) 2024年第2期39卷 370-380页

作者： TAN Hui-qun HU Zhi-shui DONG Liang International Institute of Finance School of ManagementUniversity of Science and Technology of ChinaHefei 230026China center for Basic teaching and Experiment Nanjing University of Science and TechnologyJiangyin 214443China

We study a counterbalanced random walkS_(n)=X_(1)+…+X_(n),which is a discrete time non-Markovian process andX_(n) are given recursively as *** n≥2,X_(n) is a new independent sample from some fixed law̸=0 with a fixed probability p,andX_(n)=−X_(v(n))with probability 1−p,where v(n)is a uniform random variable on{1;…;n−1}.We apply martingale method to obtain a strong invariance principle forS_(n).

关键词： random walk martingale invariance principle

Asperuloside Promotes Apoptosis of Cervical Cancer Cells through Endoplasmic Reticulum Stress-Mitochondrial Pathway

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Chinese Journal of Integrative Medicine 2024年第1期30卷 34-41页

作者： QI Zhi-min WANG Xia LIU Xia ZHAO Juan Medical Examination center Hebei Province Hospital of Chinese MedicineShijiazhuang(050011)China Department of Gynaecology and Obstetrics Hebei Province Hospital of Chinese MedicineShijiazhuang(050011)China Experimental center for teaching Hebei Medical UniversityShijiazhuang(050017)China

Objective: To investigate the effects of asperuloside on cervical cancer based on endoplasmic reticulum(ER) stress and mitochondrial pathway. Methods: Different doses(12.5–800 μg/mL) of asperuloside were used to treat cervical cancer cell lines Hela and CaSki to calculate the half maximal inhibitory concentration(IC_(50)) of asperuloside. The cell proliferation was analyzed by clone formation assay. Cell apoptosis, intracellular reactive oxygen species(ROS) and mitochondrial membrane potential were determined by flow cytometry. The protein expressions of cleaved-caspase-3, Bcl-2, Bax, Cyt-c, cleaved-caspase-4 and glucose-regulated protein 78(GRP78) were analyzed by Western blot. And the inhibitor of ER stress, 4-phenyl butyric acid(4-PBA) was used to treat cervical cancer cells to further verify the role of ER stress in the apoptosis of cervical cancer cells induced by asperuloside. Results: Asperuloside of 325, 650, and 1300 μg/mL significantly inhibited the proliferation and promoted apoptosis of Hela and CaSki cells(P<0.01). All doses of asperuloside significantly increased intracellular ROS levels, reduced mitochondrial membrane potential, significantly reduced Bcl-2 protein expression level, and increased Bax, Cyt-c, GRP78 and cleaved-caspase-4 expressions(P<0.01). In addition, 10 mmol/L 4-PBA treatment significantly promoted cell proliferation and reduced apoptosis(P<0.05), and 650 μg/mL asperuloside could reverse 4-PBA-induced increased cell proliferation, decreased apoptosis and cleaved-caspase-3,-4 and GRP78 protein expressions(P<0.05). Conclusion: Our study revealed the role of asperuloside in cervical cancer, suggesting that asperuloside promotes apoptosis of cervical cancer cells through ER stress-mitochondrial pathway.

关键词： asperuloside Chinese medicine cervical cancer endoplasmic reticulum stress mitochondrial damage apoptosis