Decentralised formation control and stability analysis for cooperative multi-vehicle manoeuvre

Multi-vehicle cooperative formation control problem is an important and typical topic of research on multi-agent system. This paper presents a formation stability conjecture to conceive a new methodology for solving the decentralised multi-vehicle formation control problem. It employs the “extension-decomposition-aggregation” scheme to transform the complex multi-agent control problem into a group of sub-problems which is able to be solved conveniently. Based on this methodology, it is proved that if all the individual augmented subsystems can be stabilised by using any approach, the overall formation system is not only asymptotically but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. Simulation study on 6-DOF aerial vehicles (Aerosonde UAVs) has been performed to verify the achieved formation stability result. The proposed multi-vehicle formation control strategy can be conveniently extended to other cooperative control problems of multi-agent systems.

Stability Analysis and Implementation of a Decentralized Formation Control Strategy for Unmanned Vehicles

This paper presents a new methodology for solving the multi-vehicle formation control problem. It employs a unique extension-decomposition-aggregation scheme to transform the overall complex formation control problem into a group of subproblems, which work via boundary interactions or disturbances. Thus, it is proved that the overall formation system is exponentially stable in the sense of Lyapunov, if all the individual augmented subsystems (IASs) are stable. Linear matrix inequality-based H8 control methodology is employed to design the decentralized formation controllers to reject the impact of the formation changes being treated as boundary disturbances and guarantee the stability of all the IASs, consequently maintaining the stability of the overall formation system. Simulation studies are performed to verify the stability, performance, and effectiveness of the proposed strategy.

Formation stability analysis of unmanned multi-vehicles under interconnection topologies

In this paper, the overall formation stability of unmanned multi-vehicle is mathematically presented under interconnection topologies. A novel definition of formation error is first given and followed by the proposed formation stability hypothesis. Based on this hypothesis, a unique extension-decomposition-aggregation scheme is then employed to support the stability analysis for the overall multi-vehicle formation under a mesh topology. It is proved that the overall formation control system consisting of N number of nonlinear vehicles is not only asymptotically, but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. This technique is shown to be applicable for a mesh topology but is equally applicable for other topologies. Simulation study of the formation manoeuvre of multiple Aerosonde UAVs, in 3D-space, is finally carried out verifying the achieved formation stability result.

Novel decentralised formation control for unmanned vehicles

This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.

Tools and Environments for Networked Electronic Performance

A collection of software and hardware tools and environments that facilitate collective networked performance between electronic musicians. Tools include 'Chat Monkey', a live chat tool for performance, 'DMA Sequencing', a step sequencer using open sound control messaging and multi nodal control, 'tutti, duet, trio, solo, quartet', an ensemble management environment, and 'Por Larrañaga', a cigar box based electro-acoustic instrument with embedded sensors and controllers. Notable performances: w/BLISS, NCAD, Dublin, 1 March 2015; w/BLISS, NI Science Festival, Belfast, 21 Feb 2015

Metabolically-inactive glucagon-like peptide-1(9-36)amide confers selective protective actions against post-myocardial infarction remodelling

BACKGROUND: Glucagon-like peptide-1 (GLP-1) therapies are routinely used for glycaemic control in diabetes and their emerging cardiovascular actions have been a major recent research focus. In addition to GLP-1 receptor activation, the metabolically-inactive breakdown product, GLP-1(9-36)amide, also appears to exert notable cardiovascular effects, including protection against acute cardiac ischaemia. Here, we specifically studied the influence of GLP-1(9-36)amide on chronic post-myocardial infarction (MI) remodelling, which is a major driver of heart failure progression.

METHODS: Adult female C57BL/6 J mice were subjected to permanent coronary artery ligation or sham surgery prior to continuous infusion with GLP-1(9-36)amide or vehicle control for 4 weeks.

RESULTS: Infarct size was similar between groups with no effect of GLP-1(9-36)amide on MI-induced cardiac hypertrophy, although modest reduction of in vitro phenylephrine-induced H9c2 cardiomyoblast hypertrophy was observed. Whilst echocardiographic systolic dysfunction post-MI remained unchanged, diastolic dysfunction (decreased mitral valve E/A ratio, increased E wave deceleration rate) was improved by GLP-1(9-36)amide treatment. This was associated with modulation of genes related to extracellular matrix turnover (MMP-2, MMP-9, TIMP-2), although interstitial fibrosis and pro-fibrotic gene expression were unaltered by GLP-1(9-36)amide. Cardiac macrophage infiltration was also reduced by GLP-1(9-36)amide together with pro-inflammatory cytokine expression (IL-1β, IL-6, MCP-1), whilst in vitro studies using RAW264.7 macrophages revealed global potentiation of basal pro-inflammatory and tissue protective cytokines (e.g. IL-1β, TNF-α, IL-10, Fizz1) in the presence of GLP-1(9-36)amide versus exendin-4.

CONCLUSIONS: These data suggest that GLP-1(9-36)amide confers selective protection against post-MI remodelling via preferential preservation of diastolic function, most likely due to modulation of infiltrating macrophages, indicating that this often overlooked GLP-1 breakdown product may exert significant actions in this setting which should be considered in the context of GLP-1 therapy in patients with cardiovascular disease.

The design of a navigation guidance and control system for an unmanned surface vehicle for environmental monitoring

Maintaining the ecosystem is one of the main concerns in this modern age. With the fear of ever-increasing global warming, the UK is one of the key players to participate actively in taking measures to slow down at least its phenomenal rate. As an ingredient to this process, the Springer vehicle was designed and developed for environmental monitoring and pollutant tracking. This special issue paper highlighted the Springer hardware and software architecture including various navigational sensors, a speed controller, and an environmental monitoring unit. In addition, details regarding the modelling of the vessel were outlined based mainly on experimental data. The formulation of a fault tolerant multi-sensor data fusion technique was also presented. Moreover, control strategy based on a linear quadratic Gaussian controller was developed and simulated on the Springer model.
Gaussian controller is developed and simulated on the Springer model.

Co-operative tensegrity-based formation control algorithm for a multi-aircraft system

This paper presents a tensegrity-based co-operative control algorithm for an aircraft formation. The 6 degrees-of-freedom model of the well-known Aerosonde unmanned aerial vehicle (UAV), is integrated with the model of the tensegrity structure and a decentralised control scheme is proposed. The strategy is shown to be scalable for 2n number of UAVs and is able to maintain a firm geometry whilst allowing flexible shape transformations. Simulation results demonstrate the effectiveness and stability of the proposed tensegrity-based formation control algorithm in 3D.

Entanglement distribution with global control in a star-shaped multi-splitter

Distributed quantum information processing (QIP) is a promising way to bypass problems due to unwanted interactions between elements. However, this strategy presupposes the engineering of protocols for remote processors. In many of them, pairwise entanglement is a key resource. We study a model which distributes entanglement among elements of a delocalized network without local control. The model is efficient both in finite- and infinite-dimensional Hilbert spaces. We suggest a setup of electromechanical systems to implement our proposal.