Bipartite Consensus Control for a Swarm of Robots

2020 ◽  
Vol 143 (1) ◽  
Author(s):  
Jun Liu ◽  
Hengyu Li ◽  
Jinchen Ji ◽  
Jun Luo
Keyword(s):  
Network Topology ◽  
Laplacian Matrix ◽  
Lagrangian System ◽  
Consensus Control ◽  
Lagrangian Equations ◽  
Competitive Network ◽  
Simulation Results ◽  
Bipartite Consensus ◽  
Virtual Leader ◽  
Theoretical Results

Abstract This paper studies the bipartite consensus problem of a swarm of robots whose dynamics are formulated by Lagrangian equations. Two distributed bipartite consensus control protocols are proposed for a swarm of robots without a leader or with a virtual leader. For the nonleader case, the networked Lagrangian system can reach static bipartite consensus under the control protocol developed, and the final convergent states can be explicitly determined by the specific structure of the Laplacian matrix associated with the cooperative–competitive network topology. For the virtual leader case, all the followers can track the leader's state in a bipartite formation to realize bipartite tracking consensus. Finally, the simulation results are given to verify the theoretical results.

Distributed multiple-bipartite consensus in networked Lagrangian systems with cooperative-competitive interactions

2021 ◽  
Author(s):  
Tiehui Zhang ◽  
Hengyu Li ◽  
Jun Liu ◽  
Daowei Lu ◽  
Shaorong Xie ◽  
...  
Keyword(s):  
Collective Behavior ◽  
Lagrangian Systems ◽  
Group Consensus ◽  
Consensus Control ◽  
Control Laws ◽  
Cluster Group ◽  
Competitive Network ◽  
Leader Following ◽  
Bipartite Consensus ◽  
Networked Lagrangian Systems

Abstract In combination with the collective behavior evolutions of bipartite consensus and cluster/group consensus, this paper proposes the notion of multiple-bipartite consensus in networked Lagrangian systems (NLSs). The distributed leaderless and leader-following multiple-bipartite consensus control laws for NLSs are presented in the cooperative-competitive network, where the negative interactions between agents can exist in the same subnetwork. By introducing an acyclic partition and adding the integral item in the control protocols, the final explicit convergence states in the leaderless case are eventually obtained. Moreover, the leader-following scenario can be realized in fifinite time with integrated controllers. All of the effectiveness has been illustrated through numerical simulations.

scholarly journals A Convergent Collocation Approach for Generalized Fractional Integro-Differential Equations Using Jacobi Poly-Fractonomials

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 979
Author(s):  
Sandeep Kumar ◽  
Rajesh K. Pandey ◽  
H. M. Srivastava ◽  
G. N. Singh
Keyword(s):  
Differential Equation ◽  
Fractional Derivative ◽  
Collocation Method ◽  
Caputo Fractional Derivative ◽  
Fractional Derivatives ◽  
Special Cases ◽  
Collocation Approach ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Theoretical Results

In this paper, we present a convergent collocation method with which to find the numerical solution of a generalized fractional integro-differential equation (GFIDE). The presented approach is based on the collocation method using Jacobi poly-fractonomials. The GFIDE is defined in terms of the B-operator introduced recently, and it reduces to Caputo fractional derivative and other fractional derivatives in special cases. The convergence and error analysis of the proposed method are also established. Linear and nonlinear cases of the considered GFIDEs are numerically solved and simulation results are presented to validate the theoretical results.

scholarly journals Multicell Power Supplies for Improved Energy Efficiency in the Information and Communications Technology Infrastructures

2021 ◽  
Author(s):  
Michael Chrysostomou ◽  
Nicholas Christofides ◽  
Stelios Ioannou ◽  
Alexis Polycarpou
Keyword(s):  
Energy Demand ◽  
Information And Communications Technology ◽  
Power Supplies ◽  
Communications Technology ◽  
Cell Structures ◽  
Full Power ◽  
Overall Efficiency ◽  
Simulation Results ◽  
The Individual ◽  
Theoretical Results

The rapid growth of the Information and Communications Technology (ICT) sector requires additional infrastructure, such as more micro-datacenters and telecom stations, to support the higher internet speeds and low latency requirements of 5G net-works. The increased power requirements of the new ICT technologies necessitate the proposal of new power supplies in an attempt to retain the increase in energy demand and running costs. This work provides an in-depth theoretical analysis on the losses of the individual stages of commercially available PSU and proposes a new multicell PSU, Buck-PFC converter, which offers a higher overall efficiency at varying load levels. The theoretical results are verified using simulation results, via PSIM Thermal Module, and using experimental data. The results indicate that multi-cell structures can improve the overall PSU ef-ficiency by 1.2% at 50% rated power and more than 2.1% at full power. Finally, taking into consideration the economic implica-tions of this study, it is shown that the proposed multicell structure may increase the PSU costs by 10.78% but the payback pe-riod is in the order of just 3.3 years.

scholarly journals Simulation and Measurement Studies of The Vdes System’s Terrestrial Component

2019 ◽  
Vol 26 (1) ◽  
pp. 95-106 ◽  
Author(s):  
Krzysztof Bronk ◽  
Patryk Koncicki ◽  
Adam Lipka ◽  
Dominik Rutkowski ◽  
Błażej Wereszko
Keyword(s):  
Data Transmission ◽  
Data Exchange ◽  
Technical Information ◽  
Theoretical Data ◽  
Current Version ◽  
Coding Gain ◽  
Exchange System ◽  
Measurement Results ◽  
Simulation Results ◽  
Theoretical Results

Abstract In the paper, the measurement and simulation results of the VDES (VHF Data Exchange System) terrestrial component are discussed. It is anticipated that VDES will be one of the major solutions for maritime communications in the VHF band and its performance will be sufficient to fulfill the requirements of the e-navigation applications. The process of the VDES standardization (ITU R, IALA) has not been officially completed yet, but substantial amount of technical information about the future system’s terrestrial component (VDE-TER) is already available. The paper is divided into three general parts: (a) theoretical presentation of the system’s physical layer and the radio channels applicable to VDES, (b) simulation results (BER, BLER, channel delay between two propagation paths and its influence on bit rates) and (c) measurement results (useful ranges, BER). It turned out that in real maritime conditions, the VDES system can offer ranges between 25 and 38 km for the configurations assumed during the measurement campaign. Those results are generally compliant with the theoretical data in the line-of-sight conditions. In the NLOS scenarios, where fading becomes the dominant phenomenon, the discrepancies between the measurements and the theoretical results were more significant. The obtained results confirmed that VDES provides a large coding gain, which significantly improves the performance of data transmission and increases the bit rate compared to the existing maritime radiocommunication solutions. It should be noted that the results presented in the article were used by the IALA while developing the current version of the VDES specification.

Computation of Madalines' Sensitivity to Input and Weight Perturbations

2006 ◽  
Vol 18 (11) ◽  
pp. 2854-2877 ◽  
Author(s):  
Yingfeng Wang ◽  
Xiaoqin Zeng ◽  
Daniel So Yeung ◽  
Zhihang Peng
Keyword(s):  
Probability Theory ◽  
Computer Simulations ◽  
Structural Characteristics ◽  
Analytical Formula ◽  
Single Neurons ◽  
Important Measure ◽  
Simulation Results ◽  
Theoretical Results ◽  
Good Agreement

The sensitivity of a neural network's output to its input and weight perturbations is an important measure for evaluating the network's performance. In this letter, we propose an approach to quantify the sensitivity of Madalines. The sensitivity is defined as the probability of output deviation due to input and weight perturbations with respect to overall input patterns. Based on the structural characteristics of Madalines, a bottomup strategy is followed, along which the sensitivity of single neurons, that is, Adalines, is considered first and then the sensitivity of the entire Madaline network. Bymeans of probability theory, an analytical formula is derived for the calculation of Adalines' sensitivity, and an algorithm is designed for the computation of Madalines' sensitivity. Computer simulations are run to verify the effectiveness of the formula and algorithm. The simulation results are in good agreement with the theoretical results.

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