Observer-based control of multi-agent systems under decentralized information structure

This paper addresses the problem of decentralized implementation of a global state feedback controller for multi-agent systems. The system is assumed to be under the constraint of a complete decentralized information structure. The decentralization of the control task is achieved through the construction of low-order decentralized functional observers with the purpose of generating the required corresponding control signal for each local control station. A design procedure is developed for obtaining an approximate solution to the design of the observers. Stability analysis is provided for the global system using the proposed observer-based approach. A numerical example is given to illustrate the design procedure and cases when the observers\u27 order increases from the lowest value. <br /

A low-order linear functional observer for time delay systems

This paper presents an efficient technique to design low order state function observers for linear time-delay systems. Assuming the existence of a linear state feedback controller to achieve stability or some control performance criteria of the time-delay system, a design procedure is proposed forreconstruction of the state feedback control action. The procedure involves solving an optimisation problem with the objective to generate a matrix that is as close as possible to the given feedback gain of the required feedback controller. A condition for robust stability of the time-delay system using the observer-based control scheme is given. The attractive features of the proposed design procedure are that the resulted linear functional state observer is of a very low order and it requires information of a small number of outputs. Numerical examples are given to demonstrate the design procedure and its merits.<br /

Observer-based decentralized approach to robotic formation control

Control of a group of mobile robots in a formation requires not only environmental sensing but also communication among vehicles. Enlarging the size of the platoon of vehicles causes difficulties due to communications bandwidth limitations. Decentralized control may be an appropriate approach in those cases when the states of all vehicles cannot be obtained in a centralized manner. This paper presents a solution to the problem of decentralized implementation of a global state-feedback controller for N mobile robots in a formation. The proposed solution is based on the design of functional observers to estimate asymptotically the global state-feedback control signals by using the corresponding local output information and some exogenous global functions. The proposed technique is tested through simulation and experiments for the control of groups of Pinoneer-based non-holonomic mobile robots.<br /

Dynamic output feedback sliding-mode control using pole placement and linear functional observers

This paper presents a methodological approach to design dynamic output feedback sliding-mode control for a class of uncertain dynamical systems. The control action consists of the equivalent control and robust control components. The design of the equivalent control and the sliding function are based on the pole-placement technique. Linear functional observers are developed to implement the sliding function and the equivalent control. Stability of the resulting system under the proposed control scheme is guaranteed. A numerical example is given to demonstrate its efficacy.<br /

Absence of stable collinear configurations in Ni(001)ultrathin films: canted domain structure as ground state

Brillouin light scattering (BLS) measurements were performed for (17-120) Angstrom thick Cu/Ni/Cu/Si(001) films. A monotonic dependence of the frequency of the uniform mode on an in-plane magnetic field H was observed both on increasing and on decreasing H in the range (2-14) kOe, suggesting the absence of a metastable collinear perpendicular ground state. Further investigation by magneto-optical vector magnetometry (MOKE-VM) in an unconventional canted-field geometry provided evidence for a domain structure where the magnetization is canted with respect to the perpendicular to the film. Spin wave calculations confirm the absence of stable collinear configurations.Comment: 6 pages, 3 figures (text, appendix and 1 figure added

Upregulated sirtuin 1 by miRNA-34a is required for smooth muscle cell differentiation from pluripotent stem cells

© 2015 Macmillan Publishers Limited. All rights reserved. microRNA-34a (miR-34a) and sirtuin 1 (SirT1) have been extensively studied in tumour biology and longevityaging, but little is known about their functional roles in smooth muscle cell (SMC) differentiation from pluripotent stem cells. Using well-established SMC differentiation models, we have demonstrated that miR-34a has an important role in SMC differentiation from murine and human embryonic stem cells. Surprisingly, deacetylase sirtuin 1 (SirT1), one of the top predicted targets, was positively regulated by miR-34a during SMC differentiation. Mechanistically, we demonstrated that miR-34a promoted differentiating stem cells' arrest at G0G1 phase and observed a significantly decreased incorporation of miR-34a and SirT1 RNA into Ago2-RISC complex upon SMC differentiation. Importantly, we have identified SirT1 as a transcriptional activator in the regulation of SMC gene programme. Finally, our data showed that SirT1 modulated the enrichment of H3K9 tri-methylation around the SMC gene-promoter regions. Taken together, our data reveal a specific regulatory pathway that miR-34a positively regulates its target gene SirT1 in a cellular context-dependent and sequence-specific manner and suggest a functional role for this pathway in SMC differentiation from stem cells in vitro and in vivo

Exact dynamical structure factor of the degenerate Haldane-Shastry model

The dynamical structure factor $S(q,\omega)$ of the K-component (K = 2,3,4) spin chain with the 1/r^2 exchange is derived exactly at zero temperature for arbitrary size of the system. The result is interpreted in terms of a free quasi-particle picture which is generalization of the spinon picture in the SU(2) case; the excited states consist of K quasi-particles each of which is characterized by a set of K-1 quantum numbers. Divergent singularities of $S(q,\omega)$ at the spectral edges are derived analytically. The analytic result is checked numerically for finite systems.Comment: 4 pages, 1 figure, accepted for publication in Phys. Rev. Let

Effect of hemicellulose liquid phase on the enzymatic hydrolysis of autohydrolyzed Eucalyptus globulus wood

In this work, Eucalyptus globulus wood was pretreated under non-isothermal autohydrolysis process at 210, 220, and 230 °C, obtaining a pretreated solid with high cellulose content and a hemicellulosic liquid phase (HLP) containing mainly xylose, acetic acid, furfural, xylooligosaccharides, and phenolic compounds. The maximum concentration of xylooligosaccharides (8.97 g/L) and phenolic compounds (2.66 g/L) was obtained at 210 and 230 °C, respectively. To evaluate the effect of HLP addition on the enzymatic hydrolysis using unwashed pretreated solid as substrate, different proportions of HLP were studied. Also, in order to use the whole slurry on enzymatic hydrolysis, the supplementation of xylanases was evaluated. Glucose concentration of 107.49 g/L (corresponding to 74.65 % of conversion) was obtained using pretreated solid at 220 °C liquid/solid ratio (LSR) of 4 g/g and enzyme solid ratio (ESR) of 25 FPU/gwithout the addition of HLP. Thus, it was shown that the unwashed pretreated solids are susceptible to enzymatic hydrolysis contributing to reduce operational cost (water consumption). Additionally, the influence of the inhibitory compounds in the HLP was shown to affect the enzymatic hydrolysis. Results indicated that 82.52 g/L of glucose (59.37 % of conversion) was obtained, using 100 % of HLP at LSR of 4 g/g and ESR of 16 FPU/g at 210 °C of pretreated solid. However, a positive effect was shown on the enzymatic hydrolysis when the xylanases were added using 100 % of HLP, increasing to 35 and 27 % in the glucose production with respect to whole slurry without addition of xylanases.The authors A. Romani and F. B. Pereira thank to the Portuguese Foundation for Science and Technology (FCT, Portugal) for their fellowships (grant number, SFRH/BPD/77995/2011 and SFRH/BD/64776/2009, respectively)