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ABSTRACT: The local synchronisation of the nonlinear networked systems with switching topology is studied in this article for the special case in which the inner-coupling matrix is a unit matrix. The critical idea is to convert synchronisation problem to consensus problem such that the switching topology can be dealt with effectively without any extra assumption on the relationship among the involved topologies. A novel local synchronous criterion consisting of the maximum Lyapunov exponent of nodal self-dynamics and the consensus convergent rate of the switching topology is given. To illustrate the effectiveness of the analytical results, two numerical examples on chaos synchronisation are simulated, respectively, for the periodic switching case and randomly switching case.
International Journal of Control 11/2011; 84(11):1769-1778. · 0.98 Impact Factor
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ABSTRACT: This paper presents the general-weighted least-norm (GWLN) method for the control of redundant manipulators by a new concept of virtual joints, which consist of the performance function of subtasks. The GWLN method enables the redundant manipulator to perform multiple subtasks with the assumption that all the subtasks can be represented by the inequalities as the joint limits avoidance subtask. The number of subtasks to be coped with might be even larger than the number of joints if they do not happen simultaneously. The simulations in contrast to the traditional gradient projection method (GPM) and the recent directional GPM have been made to manifest the advantages of the proposed method. An experiment on the seven-degree-of-freedom redundant manipulator illustrates the good performance for tracking a given trajectory of end-effector position, while both guaranteeing the obstacle free and not violating the joint limits.
IEEE Transactions on Robotics 09/2010; · 2.54 Impact Factor
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ABSTRACT: This paper studies the global synchronization problem of networked systems with bidirectional connections. We introduce a virtual node to produce the reference trajectory which will track the average state of network and eventually run in an interesting domain. The concept of synchronous degree of vector filed over domain is presented to derive a simple synchronous criterion. This criterion clearly states the actions on synchronizability of the nodal self-dynamics and the coupling matrix of network, and can be directly extended to the case of switching topology. Examples and numerical simulations illustrate the efficacy of the developed results.
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on; 01/2010
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ABSTRACT: Based on the tool of V-Stability, the stability analysis of the controlled network is derived in terms of linear matrix inequality. Then the large scale network is divided into some small communities via a fast division algorithm. The aggregation network is stabilized by stabilizing every community with pinning control strategy. As an illustrative example, a network with 400 nodes is simulated to verify the effectiveness and convenience with the selective pinning control strategy.
Control and Decision Conference, 2009. CCDC '09. Chinese; 07/2009
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ABSTRACT: This note addresses the problem of synchronized output regulation of linear networked system where all the nodes have their outputs track signals produced by the same exosystem and the state of exosystem is accessible only to leader nodes, while follower nodes regulate their outputs via a distributed synchronous protocol. This problem can be decoupled into two: one is the output regulation problem on the synchronous manifold and the other is the stability problem of synchronous manifold. The proposed synchronous protocol is independent of the network topology. The stability of synchronous manifold is analyzed through the permissible eigenvalue region and the requirements of information graph. Finally, a numerical example illustrates the efficacy of the presented results.
IEEE Transactions on Automatic Control 07/2009; · 2.11 Impact Factor
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ABSTRACT: A sufficient condition for the stability of uncertain complex networks is derived in terms of linear matrix inequalities based on the V-stability tool, which associates the self-dynamics of nodes with passivity degrees. Then, a pinning control strategy is proposed on the developed condition to stabilize the uncertain complex networks to a homogenous orbit. As an illustrative example, a network with the Lorenz system as node self-dynamics is simulated to verify the analytic results.
Circuits and Systems II: Express Briefs, IEEE Transactions on 04/2009; · 1.41 Impact Factor
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ABSTRACT: In this Letter, a new sufficient condition is proposed for master–slave synchronization of Lur'e system with time delay. This condition is constructed on the new integral inequality method such that the obtained result is much sharper than that in [M.E.Y. Yalcin, J.A.K. Suykens, J. Vandewalle, Int. J. Bifur. Chaos 11 (2001) 1707].
Physics Letters A.
