简介：

简介：Thespacecraftwithmultistagesolarpanelshavenonlinearcouplingbetweenattitudesofcentralbodyandsolarpanels,especiallytherotationofcentralbodyisconsideredinspace.Thedynamicsmodelisbasedfordynamicsanalysisandcontrol,andthemultistagesolarpanelsmeansthedynamicsmodelingwillbeverycomplex.Inthisresearch,theLiegroupvariationalintegratormethodisintroduced,andthedynamicsmodelofspacecraftwithsolarpanelsthatconnectstogetherbyflexiblejointsisbuilt.Themostobviouscharacterofthismethodisthattheattitudesofcentralbodyandsolarpanelsarealldescribedbythree-dimensionalattitudematrix.Thedynamicsmodelsofspacecraftwithoneandthreesolarpanelsareestablishedandsimulated.ThestudyshowsLiegroupvariationalintegratormethodavoidsparameterscouplingandeffectivelyreducesdifficultyofmodeling.TheobtainedcontinuousdynamicsmodelbasedonLiegroupisasetofordinarydifferentialequationsandequivalentwithtraditionaldynamicsmodelthatoffersabasisforthegeometrycontrol.

简介：Theeffectsofmeasurementnoiseareinvestigatedinthecontextofbipartiteconsensusofmulti-agentsystems.Inthesystemsetting,discrete-timedouble-integratordynamicsareassumedfortheagent,andmeasurementnoiseispresentfortheagentreceivingthestateinformationfromitsneighbors.Time-varyingstochasticbipartiteconsensusprotocolsaredesignedinordertolessentheharmfuleffectsofthenoise.Consequently,thestatetransitionmatrixoftheclosed-loopsystemisanalyzed,andsufficientandnecessaryconditionsfortheproposedprotocoltobeameansquarebipartiteconsensusprotocolaregivenwiththehelpoflineartransformationandalgebraicgraphtheory.Itisproventhatthesigneddigraphtobestructurallybalancedandhavingaspanningtreearetheweakestcommunicationassumptionsforensuringbipartiteconsensus.Inparticular,theproposedprotocolisameansquarebipartiteaverageconsensusoneifthesigneddigraphisalsoweightbalanced.