Guaranteed cost consensus problems for general linear multi-agent systems with switching topologies are investigated, where both the jointly-connected and connected switching topologies are considered. Each interaction topology in the interaction topology set may not be connected and the union topology in each finite time interval is connected for the jointly-connected switching topology, while each interaction topology is connected for the connected switching topology. In the guaranteed cost consensus problem, a guaranteed cost function is constructed to represent the consensus regulation performance and the control energy consumption. By the state space decomposition approach and some mathematics tools, several sufficient conditions for guaranteed cost consensus with switching topologies are given and design methods for the consensus control gain matrix are presented. When all the general linear dynamic systems achieve guaranteed cost consensus, an upper bound is given for the introduced guaranteed cost function and the consensus function represented the whole motion of all dynamic systems is determined. The effectiveness of the proposed results is demonstrated by numerical simulations.
Mn doped ZnO nanowires (NWs) were fabricated by a one-step vapor-solid process at 500°C. The doped Mn exists in the wurtzite lattice as substitutional atom without forming secondary phases. X-ray absorption near-edge structure reveals that the doped Mn atoms occupy the Zn sites, and they lead to an expansion in lattice constants. The I-V characteristic of a single Zn1−xMnxO NW shows a typical Ohmic contact with gold electrodes. The as-received NWs could be suitable for studying spintronics in one-dimensional diluted magnetic semiconductors.
Objective To investigate the application value of split type tubercle on the surgical treatment of unilateral thyroid benign nodules. Methods 180 cases of unilateral benign thyroid nodules were selected, and they were randomly divided into split type tubercle resection group(group A, n=90) and hemithyroidectomy group(group B, n=90) according to the digital table.The clinical effects were compared in the two groups. Results There was no complication such as hypocalcaemia and postoperative hemorrhage.1 case of group A and 2 cases of group B had transient vocal cord palsy, there was no statistically significant difference(P>0.05). There were 6 cases postoperative nodule recurrences in group A, and 5 cases in group B during 6 months to 5 years follow-up, there was no statistically significant difference(P>0.05). The thyroid stimulating hormone(TSH) levels of the two groups showed no statistically significant difference before operation(P>0.05). However, the TSH level of group A (2.76±1.34)IU/mL was lower than (4.31±2.01)IU/mL of group B 1 year after operation, and the difference was significant between the two groups(t=9.235, P<0.05). Conclusion The split type tubercle resection is worthy to properly applied in surgical treatment of unilateral benign thyroid nodules. Key words: Thyroid nodule; Thyroidectomy; Thyrotropin