Compared with the existing neural network (NN) or fuzzy logic system (FLS) based adaptive consensus methods, the proposed approach can greatly alleviate the computation burden because it needs only to update a few adaptive parameters online. In the multiagent agreement control, the system uncertainties derive from the unknown nonlinear dynamics are counteracted by employing the adaptive NNs; the state delays are compensated by designing a Lyapunov-Krasovskii functional. Finally, based on Lyapunov stability theory, it is demonstrated that the proposed consensus scheme can steer a multiagent system synchronizing to the predefined reference signals. Two simulation examples, a numerical multiagent system and a practical multimanipulator system, are carried out to further verify and testify the effectiveness of the proposed agreement approach.
We report the demonstration of a normal-incidence p-i-n germanium-tin (
Ge
0.951
Sn
0.049
) photodetector on silicon-on-insulator substrate for 2 μm wavelength application. The DC and RF characteristics of the devices have been characterized. A dark current density under
−
1
V
bias of approximately
125
mA/
cm
2
is achieved at room temperature, and the optical responsivity of 14 mA/W is realized for illumination wavelength of 2 μm under
−
1
V
reverse bias. In addition, a 3 dB bandwidth (
f
3
dB
) of around 30 GHz is achieved at
−
3
V
, which is the highest reported value among all group III–V and group IV photodetectors working in the 2 μm wavelength range. This work illustrates that a GeSn photodetector has great prospects in 2 μm wavelength optical communication.
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