In the Multi-Agent Systems (MAS), graph network topologies play a crucial role in building consensus among the connected agents. Consensus may be achieved on many network graphs using distributed control theory. However, the optimal network topology is not addressed in most of the literature, which is an important part of building stable consensus among networked agents. In this paper, the optimal topology is obtained irrespective of the agent dynamics by using two-dimensional Genetic Algorithm (GA), which is a new approach in this context. Simulation result for agents with first, and second-order linear dynamic is obtained. These results show that the proposed method achieves consensus using the optimal network topology satisfactorily.
In this study, a consensus protocol for non-linear multi-agent systems using the non-linear dynamic inversion (NDI) technique is presented. It is named as distributed NDI or DNDI. The agents are considered to be working in a randomly changing environment which is realistic. The randomness in the operating environment is introduced by random switching communication topology, delays, and noise. The consensus protocol is obtained as a closed-form expression, which is a critical requirement for real-time implementation. Also, various cases regarding the communication issues have been considered to study the performance of the DNDI controller. The simulation results are found to be satisfactory.
In this chapter, we present a weakly nonlinear stability analysis of the flow of a nanofluid in a porous medium with stress-free boundary conditions. Some previous studies have investigated cross-diffusion in a nanofluid layer although in most cases these studies mostly deal with linear stability analysis. It is important to study the nonlinear stability in flows subject to cross-diffusion due to the wide range of applications where such flows arise such as in hydrothermal growth, compact heat exchanges, the solidification of binary mixtures, geophysical systems, solar pond, etc. Here we consider flow between parallel plates with an applied magnetic field and zero nanoparticle flux at the boundaries. A truncated Fourier series is introduced reducing the flow equations to a Lorenz-type system of nonlinear evolution equations. The multidomain spectral method is used to solve the equations that describe the growth of the convection amplitudes. The solutions are obtained as sets of trajectories in the phase space. Some interesting spiral trajectories and their sensitivity to the Rayleigh number are given.
Nematode specimens collected from the faeces of the Indian one horned Rhinoceros (Rhinoceros unicornis) in the Alipore Zoological Garden, Calcutta, India are diagnosed as a new species under genus Probstmayria and named as Probstmayria bengalensis n. sp . The new species is distinguished from the other valid species of the genus in the presence of 3 pairs of postanal papillae and unequal, similar spicules (42.9 -49.5 Pm for left and 26.4 -29.7 Pm for the right spicule ),with a spicular ratio of 1:1.62-1.66 and a small gubernaculum (13.2-16.5 Pm long), that bents towards dorsal surface.
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