Recently, it has been reported that inconsistent range-measurement or, equivalently, mismatches in prescribed interagent distances, may prevent popular gradient controllers from guiding rigid formations of mobile agents to converge their desired shape and, even worse, standing still at any location. In this paper, instead treating as the source poor performance, we take them design parameters and show by introducing such a pair per distance constraint, distributed controller achieving...

Motivated by recent progress on the interplay between graph theory, dynamics, and systems we revisit analysis of chemical reaction networks described mass action kinetics. For possessing a thermodynamic equilibrium derive compact formulation exhibiting at same time structure complex stoichiometry network, which admits direct thermodynamical interpretation. This allows us to easily characterize set positive equilibria their stability properties. Furthermore, develop framework for...

Ocean renewables (such as offshore wind and wave) are abundant essential energy resources for supporting future emission-free targets. However, their intermittency high cost have hindered commercialization wide-scale implementations of these ocean technologies. This paper focuses on both issues aims to increase the dispatchability farms by investigating potential a hybrid wave platform with storage systems (ESS). research introduces an innovative method assess necessary ESS capacity...

Flexible piezocapacitive sensors utilizing nanomaterial-polymer composite-based nanofibrous membranes offer an attractive alternative to more traditional piezoelectric and piezoresistive wearable owing their ultralow powered nature, fast response, low hysteresis, insensitivity temperature change. In this work, we propose a facile method of fabricating electrospun graphene-dispersed PVAc membrane-based for applications in IoT-enabled wearables human physiological function monitoring. A series...

This article provides an overview of the circle criterion and its connection with ISS. Classical absolute stability theory in particular, is concerned analysis a feedback interconnection Lure type, which consists linear system forward path sector-bounded nonlinearity negative path. results are revis ited context systems described by differential inclusions within framework based on complex Aizerman conjecture. Contrast classical literature that focused mainly asymptotic interconnection, ISS...

The role of the internal model principle is investigated in this paper for coordination relative-degree-one and relative-degree-two nonlinear systems. For systems that are incrementally (output-feedback) passive, we propose internal-model-based distributed control laws which guarantee output synchronization to an invariant manifold driven by autonomous synchronized models. systems, consider a different framework solving formation problem where agents have track reference signal available...

In this paper we propose a model reduction method for biochemical reaction networks governed by variety of reversible and irreversible enzyme kinetic rate laws, including Michaelis-Menten Hill kinetics. The proceeds stepwise in the number complexes, defined as left right-hand sides reactions network. It is based on Kron weighted Laplacian matrix, which describes graph structure complexes does not rely prior knowledge dynamic behaviour network hence can be automated, demonstrate. reduced has...

In this paper, we propose a nonlinear control design for solving the problem of stabilization with guaranteed safety. The is based on merging Control Lyapunov Function and Barrier Function. proposed method allows us to combine stabilizer CLF safety CBF. efficacy approach shown in simulation results.

In this paper, we study the problem of integrated berth and quay crane allocation (I-BCAP) in general seaport container terminals propose model predictive (MPA) algorithm preconditioning methods for solving I-BCAP. First, a dynamical modeling framework based on discrete-event systems (DESs), which describes operation berthing process with multiple discrete positions cranes. Second, model, MPA I-BCAP using control (MPC) principle rolling event horizon. The validation performance evaluation...

Recent advances in 3D printing technology have enabled unprecedented design freedom across an ever-expanding portfolio of materials. However, direct soft polymeric materials such as polydimethylsiloxane (PDMS) is challenging, especially for structural complexities high-aspect ratio (>20) structures, microfluidic channels (∼150 μm diameter), and biomimetic microstructures. This work presents a novel processing method entailing thin-walled sacrificial metallic mold, polymer casting, acidic...

The efficacy of proportional, integral and derivative (PID) control for set point regulation disturbance rejection is investigated in a context second-order systems with hysteretic components. Two basic structures are studied: the first, component resides (internally) restoring force action system (‘hysteretic spring’ effects); second, (externally) input channel (e.g. piezo-electric actuators). In each case, robust conditions on PID gains, explicitly formulated terms data, determined under...

In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements show that tasks can be achieved practical sense for large class passive systems.

Despite the great success of using gradient-based controllers to stabilize rigid formations autonomous agents in past years, surprising yet intriguing undesirable collective motions have been reported recently, when inconsistent measurements are used agents' local controllers. To make existing gradient control robust against such measurement inconsistency, we exploit estimators following well-known internal model principle for output regulation control. The new estimator-based is still...

We investigate how the following properties are related to each other: i) A manifold is "transversally" exponentially stable; ii) "transverse" linearization along any solution in and iii) there exists a field of positive definite quadratic forms whose restrictions directions transversal decreasing flow. illustrate their relevance with study exponential incremental stability. Finally, we apply these results two control design problems, nonlinear observer synchronization. In particular,...

This paper presents the analysis on influence of distance mismatches standard gradient-based rigid formation control for second-order agents. It is shown that, similar to first-order case as recently discussed in literature, these introduce two undesired group behaviors: A distorted final shape and a steady-state motion formation. We show that such behaviors can be eliminated by combining law with distributed estimators. Finally, we how effectively employed design parameters order combined...

We present a dynamical modeling of integrated (end-to-end) container terminal operations using finite state machine (FSM) framework where each is represented by discrete-event system (DES) formulation. The hybrid model incorporates the quay cranes (QC), internal trucks (IT), and yard (YC) also selection storage positions in (CY) vessel bays. QC YC are connected IT our models. As opposed to commonly adapted operations, which entire information/inputs systems known for defined planning...