6,520 research outputs found

    Cooperative Global Robust Stabilization for a Class of Nonlinear Multi-Agent Systems and its Application

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    This paper studies the cooperative global robust stabilization problem for a class of nonlinear multi-agent systems. The problem is motivated from the study of the cooperative global robust output regulation problem for the class of nonlinear multi-agent systems in normal form with unity relative degree which was studied recently under the conditions that the switching network is undirected and some nonlinear functions satisfy certain growth condition. We first solve the stabilization problem by using the multiple Lyapunov functions approach and the average dwell time method. Then, we apply this result to the cooperative global robust output regulation problem for the class of nonlinear systems in normal form with unity relative degree under directed switching network, and have removed the conditions that the switching network is undirected and some nonlinear functions satisfy certain growth condition.Comment: 9 pages, 1 figure. This paper was submitted to the journal "Automatica

    Event-Triggered Cooperative Robust Practical Output Regulation for a Class of Linear Multi-Agent Systems

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    In this paper, we consider the event-triggered cooperative robust practical output regulation problem for a class of linear minimum-phase multi-agent systems. We first convert our problem into the cooperative robust practical stabilization problem of a well defined augmented system Based on the distributed internal model approach. Then, we design a distributed event-triggered output feedback control law together with a distributed output-based event-triggered mechanism to stabilize the augmented system, which leads to the solvability of the cooperative robust practical output regulation problem of the original plant. Our distributed control law can be directly implemented in a digital platform provided that the distributed triggering mechanism can monitor the continuous-time output information from neighboring agents. Finally, we illustrate our design by an example.Comment: This paper has been accepted for publication in Automatica on May 21, 201

    Cooperative Global Robust Output Regulation for a Class of Nonlinear Multi-Agent Systems by Distributed Event-Triggered Control

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    This paper studies the event-triggered cooperative global robust output regulation problem for a class of nonlinear multi-agent systems via a distributed internal model design. We show that our problem can be solved practically in the sense that the ultimate bound of the tracking error can be made arbitrarily small by adjusting a design parameter in the proposed event-triggered mechanism. Our result offers a few new features. First, our control law is robust against both external disturbances and parameter uncertainties, which are allowed to belong to some arbitrarily large prescribed compact sets. Second, the nonlinear functions in our system do not need to satisfy the global Lipchitz condition. Thus our systems are general enough to include some benchmark nonlinear systems that cannot be handled by existing approaches. Finally, our control law is a specific distributed output-based event-triggered control law, which lends itself to a direct digital implementation.Comment: This paper has been submitted to a journal on July 17, 201

    Adaptive Leader-Following Consensus for a Class of Higher-Order Nonlinear Multi-Agent Systems with Directed Switching Networks

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    In this paper, we study the leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under jointly connected directed switching networks. The uncertainty includes constant unbounded parameters and external disturbances. We first extend the recent result on the adaptive distributed observer from global asymptotical convergence to global exponential convergence. Then, by integrating the conventional adaptive control technique with the adaptive distributed observer, we present our solution by a distributed adaptive state feedback control law. Our result is illustrated by the leader-following consensus problem for a group of van der Pol oscillators.Comment: 21 pages, 5 figures. In this replacement version, the higher-order case is considered instead of the second-order case. Also, the main difference of this version from the reference [16] is that Appendix B is added to show the existence of the limit of the function V(t) defined in the equation (33) as t tends to infinit

    Exploring Lexical, Syntactic, and Semantic Features for Chinese Textual Entailment in NTCIR RITE Evaluation Tasks

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    We computed linguistic information at the lexical, syntactic, and semantic levels for Recognizing Inference in Text (RITE) tasks for both traditional and simplified Chinese in NTCIR-9 and NTCIR-10. Techniques for syntactic parsing, named-entity recognition, and near synonym recognition were employed, and features like counts of common words, statement lengths, negation words, and antonyms were considered to judge the entailment relationships of two statements, while we explored both heuristics-based functions and machine-learning approaches. The reported systems showed robustness by simultaneously achieving second positions in the binary-classification subtasks for both simplified and traditional Chinese in NTCIR-10 RITE-2. We conducted more experiments with the test data of NTCIR-9 RITE, with good results. We also extended our work to search for better configurations of our classifiers and investigated contributions of individual features. This extended work showed interesting results and should encourage further discussion.Comment: 20 pages, 1 figure, 26 tables, Journal article in Soft Computing (Spinger). Soft Computing, online. Springer, Germany, 201

    Baryon number fluctuations in the 2+1 flavor low energy effective model

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    High order cumulants of the baryon number distribution are calculated in a 2+1 flavor low energy effective model. Quantum fluctuations are encoded through the functional renormalization group approach. The chiral and deconfinement phase transitions are investigated at finite temperature and baryon chemical potential. The equation of state for the QCD matter, fluctuations of the baryon number and the strangeness up to sixth order are calculated, and one finds the results are consistent with those from lattice QCD.Comment: 17 pages, 13 figures, 2 tables. One figure added and one figure updated, references added. To match the version published in PR

    Online dictionary learning for kernel LMS. Analysis and forward-backward splitting algorithm

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    Adaptive filtering algorithms operating in reproducing kernel Hilbert spaces have demonstrated superiority over their linear counterpart for nonlinear system identification. Unfortunately, an undesirable characteristic of these methods is that the order of the filters grows linearly with the number of input data. This dramatically increases the computational burden and memory requirement. A variety of strategies based on dictionary learning have been proposed to overcome this severe drawback. Few, if any, of these works analyze the problem of updating the dictionary in a time-varying environment. In this paper, we present an analytical study of the convergence behavior of the Gaussian least-mean-square algorithm in the case where the statistics of the dictionary elements only partially match the statistics of the input data. This allows us to emphasize the need for updating the dictionary in an online way, by discarding the obsolete elements and adding appropriate ones. We introduce a kernel least-mean-square algorithm with L1-norm regularization to automatically perform this task. The stability in the mean of this method is analyzed, and its performance is tested with experiments

    Quantum bit commitment with cheat sensitive binding and approximate sealing

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    This paper proposes a cheat sensitive quantum bit commitment (CSQBC) scheme based on single photons, in which Alice commits a bit to Bob. Here, Bob only can cheat the committed bit with probability close to 00 with the increasing of used single photons' amount. And if Alice altered her committed bit after commitment phase, she will be detected with probability close to 11 with the increasing of used single photons' amount. The scheme is easy to be realized with nowadays technology

    Edge-Preserving Piecewise Linear Image Smoothing Using Piecewise Constant Filters

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    Most image smoothing filters in the literature assume a piecewise constant model of smoothed output images. However, the piecewise constant model assumption can cause artifacts such as gradient reversals in applications such as image detail enhancement, HDR tone mapping, etc. In these applications, a piecewise linear model assumption is more preferred. In this paper, we propose a simple yet very effective framework to smooth images of piecewise linear model assumption using classical filters with the piecewise constant model assumption. Our method is capable of handling with gradient reversal artifacts caused by the piecewise constant model assumption. In addition, our method can further help accelerated methods, which need to quantize image intensity values into different bins, to achieve similar results that need a large number of bins using a much smaller number of bins. This can greatly reduce the computational cost. We apply our method to various classical filters with the piecewise constant model assumption. Experimental results of several applications show the effectiveness of the proposed method

    Global Robust Practical Output Regulation for Nonlinear Systems in Output Feedback Form by Output-Based Event-Triggered Control

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    In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we design an internal model and an observer to form the so-called extended augmented system. Second, we convert the original problem into the event-triggered global robust practical stabilization problem of the extended augmented system. Third, we design an output-based event-triggered control law and a Zeno-free output-based event-triggered mechanism to solve the stabilization problem, which in turn leads to the solvability of the original problem. Finally, we apply our main result to the tracking problem of the controlled hyper-chaotic Lorenz systems.Comment: This work was submitted to a journal on June 7, 201
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