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Kairui Chen,Zhangmou Zhu,Jianhui Wang,Xianxian Zeng 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.4
In this paper, the output regulation problem for heterogeneous linear multi-agent systems is investigated, where each agent suffers from the detectability deficiency problem. Specifically, each agent has access to only partial output information of the exosystem, which bring about challenges to estimate full states of the exosystem. By using the observability decomposition technique, unobservable states in each agent are extracted. Then, a kind of distributed observer with dynamic event-triggered mechanism is developed to estimate full states of the exosystem for each agent cooperatively. Besides, the Zeno behavior is voided strictly when executing the event-triggered strategy. Furthermore, the distributed observer is employed to solve the output regulation problem of heterogeneous multi-agent systems based on the feedforward output regulation technique. Finally, a numerical example is conducted to verify the correctness of the proposed control algorithm.
Adaptive Fuzzy Control for Teleoperation System with Uncertain Kinematics and Dynamics
Liang Yang,Yong Chen,Zhi Liu,Kairui Chen,Zixuan Zhang 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
In this paper, we address the problem of adaptive tracking control for a teleoperation system with uncertainties in both kinematics and dynamics. Its solution is difficult to establish as the real control torque will be wrapped in the coupling of kinematic and dynamic uncertainties. To overcome this difficulty, we developed an adaptive control approach with the aid of fuzzy logic systems designed to approximate uncertain dynamics so that the real control can be separated from the coupling uncertainties. With our scheme, the boundedness of all the closed-loop signals is ensured, and at the same time the tracking errors go to a residual around zero as time tends to infinity. The effectiveness of the obtained results will be illustrated through experimental tests.
Cong Zhang,Jiangfei Zhou,Zhixin Liu,Yongqing Liu,Kairui Cai,Tengfei Shen,Cheng-Shui Liao,Chen Wang 대한수의학회 2018 Journal of Veterinary Science Vol.19 No.6
The bursa of Fabricius (BF) is a central humoral immune organ unique to birds. Four bursal peptides (BP-I, BP-II, BP-III, and BP-IV) have been isolated and identified from the BF. In this study, the immunoadjuvant activities of BPs I to IV were examined in mice immunized with H9N2 avian influenza virus (AIV) vaccine. The results suggested that BP-I effectively enhanced cell-mediated immune responses, increased the secretion of Th1 (interferon gamma)- and Th2 (interleukin-4)-type cytokines, and induced an improved cytotoxic T-lymphocyte (CTL) response to the H9N2 virus. BP-II mainly elevated specific antibody production, especially neutralizing antibodies, and increased Th1- and Th2-type cytokine secretion. BP-III had no significant effect on antibody production or cell-mediated immune responses compared to those in the control group. A strong immune response at both the humoral and cellular levels was induced by BP-IV. Furthermore, a virus challenge experiment followed by H&E staining revealed that BP-I and BP-II promoted removal of the virus and conferred protection in mouse lungs. BP-IV significantly reduced viral titers and histopathological changes and contributed to protection against H9N2 AIV challenge in mouse lungs. This study further elucidated the immunoadjuvant activities of BPs I to IV, providing a novel insight into immunoadjuvants for use in vaccine design.