Sharif Digital Repository

This paper deals with asymptotic swarm stabilization of fractional order linear time invariant swarm systems in the presence of two constraints: the input saturation constraint and the restriction on distance of the agents from final destination which should be less than a desired value. A feedback control law is proposed for asymptotic swarm stabilization of fractional order swarm systems which guarantees satisfying the above-mentioned constraints. Numerical simulation results are given to confirm the efficiency of the proposed control method  

In this paper, asymptotic swarm stability of fractional-order swarm systems in the presence of uniform time-delays is studied. By using a frequency domain approach, the necessary and sufficient condition on the values of time-delay is derived to guarantee the asymptotic swarm stability under a directed/undirected interaction graph. Numerical examples are given to confirm the obtained analytical results. © 2015 Informa UK Limited, trading as Taylor & Francis Group  

This study investigates the asymptotic swarm stabilisation of fractional-order swarm systems in the presence of two different kinds of model uncertainties and external disturbances while the upper bound of the uncertainties is a linear function of pseudo-states norms with unknown coefficients. To this end, first a fractional-integral sliding manifold is constructed and then an adaptive-robust sliding mode controller is designed to guarantee the asymptotic swarm stability in a fractional-order linear time-invariant swarm system. The stability analysis of the proposed control system is done based on the Lyapunov stability theorem. Using the proposed controller, the coefficients of the upper... 

Fast finite time adaptive sliding mode control of a quadrotor in the presence of uncertainties and unbounded external disturbances is dealt in this paper. To this end, a fractional order sliding surface is first defined and then, an adaptive sliding mode controller is designed to guarantee finite time stability with fast convergence of quadrotor states to the desired trajectory. In this controller, it is assumed that the upper bound of the model uncertainties and external disturbances is a nonlinear function with unknown coefficients. These coefficients are estimated via stable adaptive laws. Finite time stability of the closed-loop system is analyzed using Lyapunov theorem. Simulation... 

This study outlines the necessary and sufficient criteria for swarm stability asymptotically, meaning consensus in a class of fractional-order multi-agent systems (FOMAS) with interval uncertainties for both fractional orders 0 < α < 1 and 1 < α < 2. The constraints are determined by the graph topology, agent dynamics, and neighbor interactions. It is demonstrated that the fractional-order interval multi-agent system achieves consensus if and only if there are some Hermitian matrices that satisfy a particular kind of complex Lyapunov inequality for all of the system vertex matrices. This is done by using the existence condition of the Hermitian matrices in a Lyapunov inequality. To do this,... 

In this comment, it is shown that there are some non-negligible big mistakes in the analyses and stability proof of the proposed controller in the quoted paper, which makes the main results of this paper to be incorrect. The main unavoidable mistakes in the stability analysis of the main theorem (Theorem 1) are stated and some remarks are also mentioned to fix some of them. © 2022 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd  

In this comment, it is shown that there are some non-negligible big mistakes in the analyses and stability proof of the proposed controller in the quoted paper, which makes the main results of this paper to be incorrect. The main unavoidable mistakes in the stability analysis of the main theorem (Theorem 1) are stated and some remarks are also mentioned to fix some of them. © 2022 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd  

Cooperative cloud providers in the form of cloud federations can potentially reduce their energy costs by exploiting electricity price fluctuations across different locations. In this environment, on the one hand, the electricity price has a significant influence on the federations formed, and, thus, on the profit earned by the cloud providers, and on the other hand, the cloud cooperation has an inevitable impact on the performance of the smart grid. In this regard, the interaction between independent cloud providers and the smart grid is modeled as a two-stage Stackelberg game interleaved with a coalitional game in this article. In this game, in the first stage the smart grid, as a leader... 

This paper presents an adaptive controller to achieve consensus tracking for the fractional-order linear time invariant swarm systems in which the matrices describing the agent dynamics and the interactive dynamics between agents are unknown. This controller consists of two parts: an adaptive stabilizer and an adaptive tracker. The adaptive stabilizer guarantees the asymptotic swarm stability of the considered swarm system. Also, the adaptive tracker enforces the system agents to track a desired trajectory while achieving consensus. Numerical simulation results are presented to show the effectiveness of the proposed controller. Copyright  

This paper deals with fractional-order linear time invariant swarm systems. Necessary and sufficient conditions for asymptotic swarm stability of these systems are presented. Also, based on a time response analysis the speed of convergence in an asymptotically swarm stable fractional-order linear time invariant swarm system is investigated and compared with that of its integer-order counterpart. Numerical simulation results are presented to show the effectiveness of the paper results  

In this paper, asymptotic swarm stability of fractional-order swarm systems in the presence of uniform time-delays is studied. By using a frequency domain approach, the necessary and sufficient condition on the values of time-delay is derived to guarantee the asymptotic swarm stability under a directed/undirected interaction graph. Numerical examples are given to confirm the obtained analytical results  

In this paper, the problem of formation control with regard to leader–follower mobile robots in the presence of disturbances and model uncertainties, without needing to know the velocity of the leader robot, is presented. For this purpose, at first, a first-order kinematic model of leader–follower and leader–leader formations is obtained, and considering the absolute velocity of the leader robots as an uncertainty, a robust adaptive controller is designed to keep the desired formation. In this case, the upper bound of uncertainty is unknown and is obtained via stable adaptive laws. Afterwards, in order to deal with the accelerated robots and obstacles, second-order leader–follower and... 

Partial discharges (PD) are recognized as the main cause of the inner insulation deterioration process in power transformers. Therefore, the optimum inner insulation design is one of the challenges a transformer designer is faced with. Transformer strength, especially during transient conditions, is a criterion for transformer insulation designers. This challenge has made designers initiate and employ other types of winding, for example, rather than ordinary layer and disc windings employ the multiple-α windings. Multiple-α windings have a more complicated structure and are comprised of various parts with different physical structures and electrical characteristics. Typical partial discharge... 

Delay and especially delay in the transmission of agents’ information, is one of the most important causes of disruption to achieving consensus in a multi-agent system. This paper deals with achieving consensus in delayed fractional-order multi-agent systems (FOMAS). The aim in the present note is to find the exact maximum allowable delay in a FOMAS with non-uniform delay, i.e., the case in which the interactions between agents are subject to non-identical communication time-delays. By proving a stability theorem, the results available for non-delayed networked fractional-order systems are extended for the case in which interaction links have nonequal communication time-delays. In this... 

This paper focuses on the flow shop sequence dependent group scheduling (FSDGS) problem with minimisation of total completion time as the criterion (Fm|f mls, prmu, S plk|ΣC j). The research problem is formulated in form of two different mixed integer linear programming (MILP) models. Comparing with the latest MILP model for the proposed problem in the literature, the complexity size of the proposed models are significantly reduced. One of the proposed mathematical models is so effective that even medium-sized instances (problems up to 60 jobs in all groups) are solved to optimality in a reasonable amount of time. Moreover, a metaheuristic hybridising genetic and simulated annealing... 

Wire-shaped micro-supercapacitors attracted extensive attentions in next-generation portable and wearable electronics, due to advantages of miniature size, lightweight and flexibility. Herein, NiMoO 4 nanorods supported on Ni film coated Cu wire are successfully fabricated thorough direct deposition of Ni film onto Cu wire as the conductive substrate, followed by growth of the NiMoO 4 nanorods on Ni film coated Cu wire substrate by means a hydrothermal annealing process. The prepared 3D, porous electrode demonstrates extremely high areal specific capacitance of 12.03F cm −2 at the current density of 4 mA cm −2 and retained capacitance of 8.23 F cm −2 at a much higher current density of 80... 

Herein, we have successfully fabricated NiVS/NiCuP nanostructures on Cu wire as a fiber electrode for high performance FSMSCs applications. The 3D NiCuP dendritic film was firstly deposited on Cu wire through the electrodeposition method, which not only act as a scaffold for deposition of the electroactive materials (NiV-LDH and NiV-S), but also served as a micro-porous current collector, supplied extra capacitances. Then, NiV-LDH nanosheets grown on 3D NiCuP film were obtained using a hydrothermal method. The sulfidation of NiV-LDH is carried out through an ion-exchange reaction of OH– with S2– to obtain NiVS, which maintains an ultrathin and porous structure, improves the electrical...