The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked age...The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.展开更多
In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge...In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge is introduced into the past tense operator, and then a new temporal epistemic logic LTLKP is obtained, so that LTLKP can naturally and precisely describe the system＇s reliability. Secondly, a set of prior algorithms are designed to calculate the maximal reachable depth and the length of the longest of loop free paths in the structure based on the graph structure theory. Finally, some theorems are proposed to show how to approximate the complete threshold with the diameter and recurrence diameter. The proposed work resolves the completeness threshold problem so that the completeness of bounded model checking can be guaranteed.展开更多
In order to better achieve knowledge sharing based on distributed ontologies, an approach based on ontology context immigration （OCI）is proposed. Compared with traditional approaches such as ontology integration and...In order to better achieve knowledge sharing based on distributed ontologies, an approach based on ontology context immigration （OCI）is proposed. Compared with traditional approaches such as ontology integration and mapping, the proposed approach can reduce the implementation complexity. This approach can be mainly divided into three phases： ontology context determination for a given term, ontology semantic similarity computation between ontology terms, and ontology context immigration. As for a local semantic term based on distributed ontologies, an appropriate ontology context of the term is determined and extracted from a local ontology most associated with the term by using semantic similarity computation. Then, the ontology context is dynamically immigrated to the source ontology for enriching semantic information related to the term. A system called distributed knowledge sharing system（DKSS） is developed to illustrate this approach. The system adopts multi-agent technology for better communication and coordination between different ontology information sources. The experimental results show that it is efficient for distributed ontology knowledge sharing. The proposed approach does not require the support of a global ontology or the maintenance of complex ontology mapping relations, and thus it has better maintainability and scalability.展开更多
Aim To design and implement a multi-agent cooperative problem solving expert system tool. Methods A blackboard system was adopted in the system as a data sharing and information exchanging center, to coordinate the co...Aim To design and implement a multi-agent cooperative problem solving expert system tool. Methods A blackboard system was adopted in the system as a data sharing and information exchanging center, to coordinate the complex cooperative problem solving. The system was developed in UNIX and MSWindows 95 mixed TCP/IP network environment. Results and Conclusion A prototype system of a multi-agent cooperative expert systems tool is implemented.The experiment demonstrates that the fundamental functions of a cooperative expert systems is realized.展开更多
Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditiona...Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.展开更多
The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world sit...The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world situation,the communication is often disturbed and inaccurate.Hence,the unknown disturbances are considered in the velocity measurements,which is assumed to be bounded and does not need to be modelled.Moreover,a complicated nonlinear interaction among agents is presented in the design of control.Based on the existing work of multi-agent systems,a flocking control protocol is proposed to address the formation problem in the dynamic topology.The stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved eventually.Finally,some simulations are presented to verify the effectiveness of the proposed algorithm.展开更多
Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a ...Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a sequence of different operating conditions. The priority of some loads differs in changing operating conditions. After analyzing characteristics of typical SPS, a model was developed used a grade III switchboard and an environmental prioritizing agent （EPA） algorithm. This algorithm was chosen as it is logically and physically decentralized as well as multi-agent oriented. The EPA algorithm was used to decide on the dynamic load priority, then it selected the means to best meet the maximum power supply load. The simulation results showed that higher priority loads were the first to be restored. The system satisfied all necessary constraints, demonstrating the effectiveness and validity of the proposed method.展开更多
As the manufacturing mode focuses more on network and community,the orders and production processes are becoming highly dynamic and unpredictable.The traditional manufacturing system cannot handle those exceptional ev...As the manufacturing mode focuses more on network and community,the orders and production processes are becoming highly dynamic and unpredictable.The traditional manufacturing system cannot handle those exceptional events such as rush orders and machine breakdowns.Nevertheless,the multiagent manufacturing system(MAMS)becomes a critical pattern to deal with these disturbances in a real-time way.However,due to the lack of universality,MAMS is difficult to be applied to industrial sites.A new multiagent architecture and the relay cooperation model based on a positive process relation matrix are proposed to address this paper’s issue.An optimized contract net protocol(CNP)-based negotiation mechanism is developed to improve the efficiency of collaboration in the proposed architecture.Finally,a case study of self-organizing internet of things(Io T)manufacturing system is used to test the feasibility and effectiveness of the method.It is shown that the proposed self-organizing Io T manufacturing mode outperforms the traditional manufacturing system in terms of makespan and critical machine workload balancing under disturbances through comparison.展开更多
This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol i...This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.展开更多
基金Supported by the National Natural Science Foundation of China(91016017)the National Aviation Found of China(20115868009)~~
文摘The cooperative control and stability analysis problems for the multi-agent system with sampled com- munication are investigated. Distributed state feedback controllers are adopted for the cooperation of networked agents. A theorem in the form of linear matrix inequalities（LMI） is derived to analyze the system stability. An- other theorem in the form of optimization problem subject to LMI constraints is proposed to design the controller, and then the algorithm is presented. The simulation results verify the validity and the effectiveness of the pro- posed approach.
基金The National Natural Science Foundation of China (No.10974093)the Scientific Research Foundation for Senior Personnel of Jiangsu University (No.07JDG014)the Natural Science Foundation of Higher Education Institutions of Jiangsu Province (No.08KJD520015)
文摘In order to find the completeness threshold which offers a practical method of making bounded model checking complete, the over-approximation for the complete threshold is presented. First, a linear logic of knowledge is introduced into the past tense operator, and then a new temporal epistemic logic LTLKP is obtained, so that LTLKP can naturally and precisely describe the system＇s reliability. Secondly, a set of prior algorithms are designed to calculate the maximal reachable depth and the length of the longest of loop free paths in the structure based on the graph structure theory. Finally, some theorems are proposed to show how to approximate the complete threshold with the diameter and recurrence diameter. The proposed work resolves the completeness threshold problem so that the completeness of bounded model checking can be guaranteed.
基金The National Natural Science Foundation of China(No60703036)
文摘In order to better achieve knowledge sharing based on distributed ontologies, an approach based on ontology context immigration （OCI）is proposed. Compared with traditional approaches such as ontology integration and mapping, the proposed approach can reduce the implementation complexity. This approach can be mainly divided into three phases： ontology context determination for a given term, ontology semantic similarity computation between ontology terms, and ontology context immigration. As for a local semantic term based on distributed ontologies, an appropriate ontology context of the term is determined and extracted from a local ontology most associated with the term by using semantic similarity computation. Then, the ontology context is dynamically immigrated to the source ontology for enriching semantic information related to the term. A system called distributed knowledge sharing system（DKSS） is developed to illustrate this approach. The system adopts multi-agent technology for better communication and coordination between different ontology information sources. The experimental results show that it is efficient for distributed ontology knowledge sharing. The proposed approach does not require the support of a global ontology or the maintenance of complex ontology mapping relations, and thus it has better maintainability and scalability.
文摘Aim To design and implement a multi-agent cooperative problem solving expert system tool. Methods A blackboard system was adopted in the system as a data sharing and information exchanging center, to coordinate the complex cooperative problem solving. The system was developed in UNIX and MSWindows 95 mixed TCP/IP network environment. Results and Conclusion A prototype system of a multi-agent cooperative expert systems tool is implemented.The experiment demonstrates that the fundamental functions of a cooperative expert systems is realized.
基金The National Natural Science Foundation of China(No.61273110)the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002)
文摘Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.
基金the National Key Research and Development Program of China(No.2021ZD0112500)the National Natural Scientific Foundation of China(No.12072128)。
文摘The formation problem of multi-agent systems via coordinated control is investigated,where the multiple agents can achieve the common velocity with leader and avoid collision during the evolution.In the real-world situation,the communication is often disturbed and inaccurate.Hence,the unknown disturbances are considered in the velocity measurements,which is assumed to be bounded and does not need to be modelled.Moreover,a complicated nonlinear interaction among agents is presented in the design of control.Based on the existing work of multi-agent systems,a flocking control protocol is proposed to address the formation problem in the dynamic topology.The stability analysis is given to prove that the velocities of all agents can converge to the velocity of leader and the stable motion with collision avoidance can be achieved eventually.Finally,some simulations are presented to verify the effectiveness of the proposed algorithm.
基金Supported by the National Natural Science Foundation of China under Grant No.60704004the Fundamental Research Funds for the Central University under Grant No.HEUCFT1005
文摘Reconfigurability of the electrical network in a shipboard power system （SPS） after its failure is central to the restoration of power supply and improves survivability of an SPS. The navigational process creates a sequence of different operating conditions. The priority of some loads differs in changing operating conditions. After analyzing characteristics of typical SPS, a model was developed used a grade III switchboard and an environmental prioritizing agent （EPA） algorithm. This algorithm was chosen as it is logically and physically decentralized as well as multi-agent oriented. The EPA algorithm was used to decide on the dynamic load priority, then it selected the means to best meet the maximum power supply load. The simulation results showed that higher priority loads were the first to be restored. The system satisfied all necessary constraints, demonstrating the effectiveness and validity of the proposed method.
基金supported by the National Key Research and Development Program of China(No.2018YFE0177000)National Natural Science Foundation of China(No.52075257)+1 种基金Equipment Project of Ship Assembly and Construction for the Ministry of Industry and Information Technology(No.TC190H47J)Fundamental Research Funds for the Central Universities(No.NP2020304)。
文摘As the manufacturing mode focuses more on network and community,the orders and production processes are becoming highly dynamic and unpredictable.The traditional manufacturing system cannot handle those exceptional events such as rush orders and machine breakdowns.Nevertheless,the multiagent manufacturing system(MAMS)becomes a critical pattern to deal with these disturbances in a real-time way.However,due to the lack of universality,MAMS is difficult to be applied to industrial sites.A new multiagent architecture and the relay cooperation model based on a positive process relation matrix are proposed to address this paper’s issue.An optimized contract net protocol(CNP)-based negotiation mechanism is developed to improve the efficiency of collaboration in the proposed architecture.Finally,a case study of self-organizing internet of things(Io T)manufacturing system is used to test the feasibility and effectiveness of the method.It is shown that the proposed self-organizing Io T manufacturing mode outperforms the traditional manufacturing system in terms of makespan and critical machine workload balancing under disturbances through comparison.
基金Supported by the National Natural Science Foundation of China （No. 61075065,60774045, U1134108） and the Ph. D Programs Foundation of Ministry of Education of China （ No. 20110162110041 ）.
文摘This paper discusses consensus problems for high-dimensional networked multi-agent systems with fixed topology. The communication topology of multi-agent systems is represented by a digraph. A new consensus protocol is proposed, and consensus convergence of multigent systems is analyzed based on the Lyapunov stability theory. The consensus problem can be formulated into solving a feasible problem with bilinear matrix inequality （BMI） constrains. Furthermore, the consensus protocol is extended to achieving tracking and formation control. By introducing the formation structure set, each agent can gain its individual desired trajectory. Finally, numerical simulations are provided to show the effectiveness of our strategies. The results show that agents from arbitrary initial states can asymptotically reach a consensus. In addition, agents with high-dimensional can track any target trajectory, and maintain desired formation during movement by selecting appropriate structure set.
