Alleviation of Glucocorticoid-Induced Osteoporosis in Rats by Ethanolic Reynoutria multiflora (Thunb.) Moldenke Extract.

Secondary osteoporosis is frequently due to the use of high-dose glucocorticoids (GCs). The existing strategy for managing glucocorticoid-induced osteoporosis (GIOP) is considered insufficient and remains in a state of ongoing evolution. Therefore, it is crucial to develop more precise and effective agents for the treatment of GIOP. The constituents of Reynoutria multiflora (Thunb.) Moldenke, specifically Polygonum multiflorum (PM) Thunb, have previously shown promise in mitigating osteopenia. This study aimed to investigate the therapeutic effects of an ethanolic PM extract (PMR30) against GIOP in male rats. Prednisone (6 mg/kg/day, GC) was continuously administered to rats to induce GIOP, and they were subjected to treatment with or without ethanolic PMR30 for a duration of 120 days. Serum was collected for biochemical marker analysis. Bone histomorphometric, histological, and TUNEL analyses were performed on tibia samples. The protein expressions of LC3, Agt5, and Beclin 1 in the femur underwent examination through western blotting. Prolonged and excessive GC treatment significantly impeded bone formation, concomitant with reduced bone mass and body weight. It also suppressed OCN and OPG/RANKL in serum, and decreased Beclin 1 and LC3 in bone. Simultaneously, there was an elevation in bone resorption markers and apoptosis. Treatments with both high dose and low dose of PMR30 alleviated GIOP, stimulated bone formation, and upregulated OCN and OPG/RANKL, while suppressing TRACP-5b, CTX-I, and apoptosis. The impact of PMR30 possibly involves the enhancement of autophagy proteins (LC3, Agt5, and Beclin 1) and the inhibition of apoptosis within the bone. PMR30 holds promise as a prospective therapeutic agent for preventing and treating GIOP.

Comparison of two emergency cervical cerclage techniques in twin pregnancies: A retrospective cohort study matched with cervical dilation.

OBJECTIVES: This retrospective cohort study aimed to assess the efficacy of emergency cervical cerclage (ECC) performed with the combined McDonald-Shirodkar technique in twin pregnancies between 18 and 26 weeks of pregnancy with painless cervical dilation 1 to 6 cm. METHODS: A retrospective cohort study matched with the degree of cervical dilation was conducted. The study group (case group) included women with twin pregnancies undergoing combined McDonald-Shirodkar approach with cervical dilation ≥1 cm between 18 to 26 weeks of gestation at four institutions, from December 2015 to December 2022. To minimize confounding factors, we elucidated the causality structure using a directed acyclic graph and performed 1:1 case-control matching. A control group underwent the McDonald approach. The primary outcome was gestational age (GA) at delivery. The secondary outcomes were pregnancy latency; the rates of spontaneous preterm birth at <28, <30, <32, and <34 weeks; and neonatal outcomes. Additional subanalysis was performed by dividing the patients into two subgroups of women with cervical dilation ≥3 cm and <3 cm. RESULTS: A total of 84 twin pregnancies were managed with either the combined McDonald-Shirodkar approach (case group: n = 42) or the McDonald approach (control group: n = 42). Demographic characteristics were not significantly different in the two groups (P > 0.05). After adjusting for confounders that were represented by a directed acyclic graph, median GA at delivery was significantly higher (30.5 vs 27 weeks; Bate: 3.40 [95% confidence interval (CI), 2.13-4.67], P < 0.001) and median pregnancy latency was significantly longer (56 vs 28 days; Bate: 24.04 [95% CI, 13.31-34.78], P < 0.001) in the case group compared with the control group. Rates of spontaneous preterm birth at <28, <30, <32, and <34 weeks were significantly lower in the case group than in the control group. For neonatal outcomes, there was higher birth weight (1543.75 vs 980 g; Bate: 420.08 [95% CI, 192.18-647.98], P < 0.001) and significantly lower overall perinatal mortality (7.1% vs 31%; adjusted odds ratio, 0.16 [95% CI, 0.04-0.70], P = 0.014) in the case group compared with the control group. When cervical dilation was ≥3 cm, the combined McDonald-Shirodkar procedure can significantly reduce perinatal mortality (8.3% vs 46.7%; adjusted odds ratio, 0.09 [95% CI, 0.01-0.77], P = 0.028), significantly decrease the risk of delivery at <28 and <30 weeks, and prolong GA at delivery and pregnancy latency compared with the McDonald procedure. CONCLUSIONS: ECC performed with the combined McDonald-Shirodkar procedure in women with twin pregnancies who have cervical dilation 1 to 6 cm in midtrimester pregnancy may reduce the rate of spontaneous preterm birth and improve perinatal and neonatal outcomes compared with the McDonald procedure, especially for twin pregnancies in women with cervical dilation of 3 to 6 cm and prolapsed membranes.

Evolutionary and phylogenetic analyses of 11 Cerasus species based on the complete chloroplast genome.

The subgenus Cerasus, one of the most important groups in the genus Prunus sensu lato, comprises over 100 species; however, the taxonomic classification and phylogenetic relationships of Cerasus remain controversial. Therefore, it is necessary to reconstruct the phylogenetic tree for known Cerasus species. Here, we report the chloroplast (cp) genome sequences of 11 Cerasus species to provide insight into evolution of the plastome. The cp genomes of the 11 Cerasus species (157,571-158,830 bp) displayed a typical quadripartite circular structure. The plastomes contain 115 unique genes, including 80 protein-coding genes, four ribosomal RNAs, and 31 transfer RNAs. Twenty genes were found to be duplicated in inverted repeats as well as at the boundary. The conserved non-coding sequences showed significant divergence compared with the coding regions. We found 12 genes and 14 intergenic regions with higher nucleotide diversity and more polymorphic sites, including matK, rps16, rbcL, rps16-trnQ, petN-psbM, and trnL-trnF. During cp plastome evolution, the codon profile has been strongly biased toward the use of A/T at the third base, and leucine and isoleucine codons appear the most frequently. We identified strong purifying selection on the rpoA, cemA, atpA, and petB genes; whereas ccsA, rps19, matK, rpoC2, ycf2 and ndhI showed a signature of possible positive selection during the course of Cerasus evolution. In addition, we further analyzed the phylogenetic relationships of these species with 57 other congenic related species.Through reconstructing the Cerasus phylogeny tree, we found that true cherry is similar to the flora of China forming a distinct group, from which P. mahaleb was separated as an independent subclade. Microcerasus was genetically closer to Amygdalus, Armeniaca, and Prunus (sensu stricto) than to members of true cherry, whereas P. japonica and P. tomentosa were most closely related to P. triloba and P. pedunculata. However, P. tianshanica formed a clade with P. cerasus, P. fruticosa, P. cerasus × P. canescens 'Gisela 6', and P. avium as a true cherry group. These results provide new insights into the plastome evolution of Cerasus, along with potential molecular markers and candidate DNA barcodes for further phylogenetic and phylogeographic analyses of Cerasus species.

The complete change in bile acids and steroids in systematic metabolomics applied to the intrahepatic cholestasis of pregnancy.

Intrahepatic cholestasis of pregnancy (ICP) is a pregnancy-specific hepatobiliary disease, leading to an abnormal increase in total bile acid in the blood of pregnant women. To systematically explore the similarities and differences in metabolites and metabolic pathways among three types of biological samples from ICP women, a study of 18 ICP and 6 healthy (as a normal control) pregnant women was performed to investigate their clinical information and biochemical features. Based on validated LC-MS/MS methods 1-5 for hydrophilic and hydrophobic metabolites (molecular weight <2000 Dalton), an untargeted-metabolomic strategy was applied to 24 pregnant women to determine the metabolites from 22 serum, 15 placental and 22 urine samples. Then 1137 metabolites from serum, 876 metabolites from placental tissue and 311 metabolites from urine with a coefficient of variation <30% in the pooled quality control samples were found. Furthermore, orthogonal partial least squares-discriminate analysis (OPLS-DA), correlation analysis, chemical enrichment analysis and metabolic pathway analysis were carried out by a bioinformatics process. On the OPLS-DA model analysis, the metabolites in urine were better than those in serum or placental tissue to reflect the metabolic changes of ICP disease. Some metabolites were significantly changed in serum (n = 71), placental tissue (n = 46) and urine (n = 36), such as bile acids, triacylglycerols, lysoPCs, and steroids. Primary bile acid biosynthesis was the main metabolic pathway in ICP disease, and taurine and hypotaurine metabolism and sphingolipid metabolism were also found. More specifically, bile acids increased and steroids decreased in the serum, placental and urine samples. For complex metabolic diseases such as ICP disease, untargeted-metabolomic analysis of multiple biological samples could provide a systematic understanding of the changes in metabolic types and pathways.

Comparative transcriptome and metabolome analyses of cherry leaves spot disease caused by Alternaria alternata.

Alternaria alternata is a necrotrophic fungal pathogen with a broad host range that causes widespread and devastating disease in sweet cherry (Prunus avium). We selected a resistant cultivar (RC) and a susceptible cultivar (SC) of cherry and used a combined physiological, transcriptomic, and metabolomic approach to investigate the molecular mechanisms underlying the plant's resistance to A. alternata, of which little is known. We found that A. alternata infection stimulated the outbreak of reactive oxygen species (ROS) in cherry. The responses of the antioxidant enzymes and chitinase to disease were observed earlier in the RC than in the SC. Moreover, cell wall defense ability was stronger in the RC. Differential genes and metabolites involved in defense responses and secondary metabolism were primarily enriched in the biosynthesis of phenylpropanoids, tropane, piperidine and pyridine alkaloids, flavonoids, amino acids, and α-linolenic acid. Reprogramming the phenylpropanoid pathway and the α-linolenic acid metabolic pathway led to lignin accumulation and early induction of jasmonic acid signaling, respectively, in the RC, which consequently enhanced antifungal and ROS scavenging activity. The RC contained a high level of coumarin, and in vitro tests showed that coumarin significantly inhibited A. alternata growth and development and had antifungal effect on cherry leaves. In addition, differentially expressed genes encoding transcription factors from the MYB, NAC, WRKY, ERF, and bHLH families were highly expressed, they could be the key responsive factor in the response of cherry to infection by A. alternata. Overall, this study provides molecular clues and a multifaceted understanding of the specific response of cherry to A. alternata.

Adaptive Bipartite Event-Triggered Time-Varying Output Formation Tracking of Heterogeneous Linear Multi-Agent Systems Under Signed Directed Graph.

This study investigates the adaptive bipartite event-triggered time-varying output formation tracking for heterogeneous linear multi-agent systems (MASs) under signed directed communication topology. Both cooperative communication and antagonistic communication among agents are considered. The fully distributed bipartite compensator based on the novel composite event-triggered transmission mechanism is first put forward to estimate the state of the leader. Compared with the existing methods, our compensator can save communication resources using event-triggered transmission mechanism; is independent of the global information of the network graph; and is applicable for the signed directed graph. With the developed compensator, the distributed control protocol is designed to achieve the time-varying output formation tracking. Moreover, the case that the networked systems subject to external disturbances is also considered. To estimate the state of leader with disturbance, the fully distributed bipartite compensator based on an innovative composite event-triggered mechanism is presented. And the novel distributed control protocol is proposed to address the output formation tracking issue for linear MASs with heterogeneous dynamics and external disturbances. It is shown that the Zeno-behavior can be excluded in both transmission mechanisms. Finally, the effectiveness of the developed control methods is illustrated through three simulation examples.

The Bipartite Edge-Based Event-Triggered Output Tracking of Heterogeneous Linear Multiagent Systems.

This article focuses on the bipartite output tracking control for heterogeneous linear multiagent systems under the asynchronous edge-based event-triggered transmission mechanism. First, the distributed bipartite edge-based event-triggered compensator is established to estimate the state of the exosystem. The estimated state of the compensator is the same as the state of the exosystem in modulus and opposite in sign because of the existence of antagonistic communications. To be independent of the topology information, the adaptive compensator with an edge-based event-triggered mechanism is then established. And the observer is proposed to recover the unmeasurable system states. Then, the distributed control scheme based on the compensator and the observer is designed to address the bipartite output tracking problem. Moreover, the results in the signed fixed graph are extended to signed switching graphs. The Zeno behavior of each edge is ruled out. Finally, two numerical examples, one application example and one comparison example, are given to demonstrate the feasibility of the main theoretical findings.

Finite-Time Event-Triggered Output Consensus of Heterogeneous Fractional-Order Multiagent Systems With Intermittent Communication.

The finite-time output consensus (FTOC) issue of heterogeneous fractional-order multiagent systems (HFO-MASs) is investigated in this article. First, a new principle of finite-time convergence for absolutely continuous functions is developed if a fractional derivative inequality is satisfied. Next, in order to remove the assumption that the leader's system matrix is known to all agents in previous studies, a distributed adaptive finite-time observer is designed, which can estimate not only the leader's state but also the leader's system matrix. Then, a novel finite-time event-triggered compensator with intermittent communication is constructed to estimate the leader's state by introducing a dynamic threshold for a novel triggering function. In this case, the high frequency triggering is restrained and the triggering number is significantly reduced. The Zeno behavior does not exist by choosing parameters appropriately. In addition, two finite-time control strategies are constructed based on the above distributed observer and event-triggered compensator, respectively, to achieve output consensus in finite time. The feasibility of the proposed method is ensured by the comprehensive theoretical demonstration of the finite-time consensus stability and the analysis of the Zeno behavior. Finally, the examples are given to demonstrate the conclusion.

Adaptive Time-Varying Formation Tracking Control for Multiagent Systems With Nonzero Leader Input by Intermittent Communications.

The time-varying formation (TVF) tracking problem is studied for linear multiagent systems (MASs), where followers reach a preset TVF when tracking the leader's state. Followers are divided into the informed ones, which directly receive the leader's information, and uninformed ones. To alleviate communication requirements, trigger mechanisms are designed for the leader and all edges. Note that the designed trigger mechanisms enable the leader to send information intermittently and each follower to transmit information asynchronously when the corresponding trigger mechanism is satisfied. To address the TVF tracking problem, the node-event (for the leader) and (dynamic) edge-event triggered adaptive control strategy is proposed, which is fully distributed and has no relation to the system network's scale. Moreover, the MASs do not exhibit the Zeno behavior. Finally, a practice example is introduced to effectively illustrate the theoretical results.

Formation Tracking Control for Heterogeneous Multiagent Systems With Multiple Nonautonomous Leaders via Dynamic Event-Triggered Mechanisms.

This article considers the time-varying formation (TVF) tracking issue of heterogeneous multiagent systems (HMASs) with the dynamic event-triggered control. The HMASs contain heterogeneous multiple leaders, all of which have the input signals to generate flexible reference, and only the output information can be measured. All leaders do not have access to the same followers, that is, the well-informed follower assumption is removed in this article. In this setting, the adaptive multileader state compensator is designed for each follower to estimate the integrated state information of all leaders, which can equip with two kinds of dynamic event-triggered mechanisms, that is, node-based event-triggered mechanism and edge-based event-triggered mechanism, to save communication bandwidth. Then, the TVF controllers are built by some estimation values to regulate the followers to achieve and maintain the geometric shape while tracking the reference which is the convex combination of outputs of leaders. The event-triggered compensator and TVF controller constitute the control protocol of HMASs, which are independent of global information with the fully distributed manner. The stability analysis and numerical simulations are given to verify the presented control protocol.

Leader-Following Consensus for a Class of Nonlinear Multiagent Systems Under Event-Triggered and Edge-Event Triggered Mechanisms.

Considering that there are many systems with limited network bandwidth in practice, this article studies the leader-following consensus problem for a class of nonlinear multiagent systems (MASs). The purpose of this article is to reduce unnecessary information transmission between any pair of adjacent agents including the leader in the MASs through intermittent communication. The novel event-triggered and asynchronous edge-event triggered mechanisms are designed for the leader and all edges, respectively. The static and dynamic consensus protocols under these mechanisms are proposed to address the leader-following consensus problem for MASs with Lipschitz dynamics, and the systems will not exhibit Zeno behavior under these two control schemes. Note that the dynamic consensus protocol does not rely on any global values of MASs, it is a fully distributed way. Finally, a practice simulation example is introduced to illustrate the theoretical results obtained.

Adaptive Bipartite Fixed-Time Time-Varying Output Formation-Containment Tracking of Heterogeneous Linear Multiagent Systems.

This study investigates the bipartite fixed-time time-varying output formation-containment tracking issue for heterogeneous linear multiagent systems with multiple leaders. Both cooperative communication and antagonistic communication between neighbor agents are taken into account. First, the bipartite fixed-time compensator is put forward to estimate the convex hull of leaders' states. Different from the existing techniques, the proposed compensator has the following three highlights: 1) it is continuous without involving the sign function, and thus, the chattering phenomenon can be avoided; 2) its estimation can be achieved within a fixed time; and 3) the communication between neighbors can not only be cooperative but also be antagonistic. Note that the proposed compensator is dependent on the global information of network topology. To deal with this issue, the fully distributed adaptive bipartite fixed-time compensator is further proposed. It can estimate not only the convex hull of leaders' states but also the leaders' system matrices. Based on the proposed compensators, the distributed controllers are then developed such that the bipartite time-varying output formation-containment tracking can be achieved within a fixed time. Finally, two examples are given to illustrate the feasibility of the main theoretical findings.

Distributed Bipartite Adaptive Event-Triggered Fault-Tolerant Consensus Tracking for Linear Multiagent Systems Under Actuator Faults.

This article considers the distributed bipartite adaptive event-triggered fault-tolerant consensus tracking issue for linear multiagent systems in the presence of actuator faults based on the output feedback control protocol. Both time-varying additive and multiplicative actuator faults are taken into account in the meantime. And the upper/lower bounds of actuator faults are not required to be known. First, the state observer is designed to settle the occurrence of unmeasurable system states. Two kinds of event-triggered mechanisms are then developed to schedule the interagent communication and controller updates. Next, with the developed event-triggered mechanisms, a novel observer-based bipartite adaptive control strategy is proposed such that the fault-tolerant control problem can be addressed. Compared with some related works on this topic, our control scheme can achieve the intermittent communication and intermittent controller updates, and the more general actuator faults and network topology are considered. It is proved that the exclusion of Zeno behavior can be realized. Finally, three illustrative examples are given to demonstrate the feasibility of the main theoretical findings.

Observer-Based Output Feedback Event-Triggered Adaptive Control for Linear Multiagent Systems Under Switching Topologies.

The consensus problem of general linear multiagent systems (MASs) is studied under switching topologies by using observer-based event-triggered control method in this article. On the basis of the output information of agents, two kinds of novel event-triggered adaptive control schemes are designed to achieve the leaderless and leader-follower consensus problems, which do not need to utilize the global information of the communication networks. Finally, two simulation examples are introduced to show that the consensus error converges to zero and Zeno behavior is eliminated in MASs. Compared with the existing output feedback control research, one of the significant advantages of our methods is that the controller protocols and triggering mechanisms do not rely on any global information, are independent of the network scale, and are fully distributed ways.

Metabolomics and Transcriptomics Analyses of Two Contrasting Cherry Rootstocks in Response to Drought Stress.

Drought is one of the main factors affecting sweet cherry yields, and cherry rootstocks can provide a range of tree vigor levels to better match sweet cherries with the characteristics of the soil. To investigate the molecular events of the cherry to water deficiency, we performed transcriptomic and metabolomic analyses of Prunus mahaleb CDR-1 (drought-tolerant cherry rootstock (DT)) and P. cerasus × P. canescens Gisela 5 (drought-susceptible cherry rootstock (DS)), respectively. The results revealed 253 common drought-responsive genes in leaves and roots in DT and 17 in DS; 59 upregulated metabolites were explored in leaves in DT and 19 were explored in DS. Differentially expressed metabolites related to the cyanoamino acid metabolism pathway and phenylpropanoid biosynthesis pathway may be key factors in the difference in drought resistance in the two rootstocks. Moreover, six central metabolites-3-cyanoalanine, phenylalanine, quinic acid, asparagine, p-benzoquinone, and phytosphingosine-were identified as potential biological markers of drought response in cherries and may be key factors in the difference in drought resistance, along with caffeic acid and chlorogenic acid. We also selected 17 differentially expressed genes as core candidate genes and the mechanism of DT in response to drought is summarized.

Anticardiolipin Positivity Is Highly Associated With Intrauterine Growth Restriction in Women With Antiphospholipid Syndrome.

The purpose of our study was to evaluate pregnancy outcomes of women with antiphospholipid antibodies (aPL) positivity and assess risk factors associated with adverse pregnancy outcomes. Pregnant women with aPL positivity were enrolled prospectively in China from January 2017 to March 2020. Treatment of low-dose aspirin and low molecular weight heparin were given. Pregnancy outcomes and coagulation function were recorded and compared with normal pregnancies. Multivariable logistic regression was performed to identify risk factors associated to intrauterine growth restriction (IUGR). 270 pregnant women, including 44 diagnosed as Antiphospholipid syndrome (APS), 91 as non-criteria APS (NCAPS) and 135 normal cases as control, were enrolled in the study. The live birth rate in aPL carriers and APS group was 97% and 95.5%, respectively. Adverse pregnancy outcomes did not show significant difference between aPL carriers and normal pregnancies, and between APS and NCAPS, except for IUGR. The incidence of IUGR was significantly higher in aPL carriers than normal pregnancies, and in APS patients than NCAPS (P < 0.05). After controlling for age, in vitro fertilization (IVF), pregnancy losses related to APS and treatment, anticardiolipin (aCL) positivity was the only variable significantly associated with IUGR, with an adjusted odds ratio of 4.601 (95% CI, 1.205-17.573). Better pregnant outcomes of aPL positive women, include APS and NCAPS, were achieved in our study with treatment based on low-dose aspirin (LDA) plus low molecular weight heparin (LMWH). The incidence of IUGR was still higher in them, and aCL positivity was the only one risk factor associated with IUGR.

Resistance analysis of cherry rootstock 'CDR-1' (Prunus mahaleb) to crown gall disease.

BACKGROUND: Crown gall disease, caused by the pathogenic bacterium Agrobacterium tumefaciens, is responsible for extensive economic losses in orchards. Cherry rootstock 'CDR-1' (Prunus mahaleb) shows high resistance but the mechanism remains unclear. Here, we examined the morphology of pathogen-infected root neck surface, determined the activity of 10 defense-related enzymes and the content of salicylic acid (SA) and jasmonic acid (JA), and also applied transcriptome analysis, transient expression and transgenic verification to explore the crown gall resistance genes in 'CDR-1' plants. RESULTS: In our study, peroxidase increased in the first 10 days, while phenylalanine ammonialyase and lipoxygenase increased in the first 15 days post-infection. Four key enzymes in the AsA-GSH cycle also responded, to a certain extent; although JA content increased significantly after the treatment, the SA content did not. In a follow-up transcriptome analysis, the differentially expressed genes Pm4CL2, PmCYP450, PmHCT1, PmHCT2, and PmCAD were up-regulated. Based on the above results, we focused on the lignin biosynthetic pathway, and further measured lignin content, and found it increased significantly. The Pm4CL2 gene was used to conduct transient expression and transgenic experiments to verify its function in crown gall disease resistance. It showed the relative expression of the treatment group was almost 14-fold that of the control group at 12 h post-treatment. After the infection treatment, clear signs of resistance were found in the transgenic lines; this indicated that under the higher expression level and earlier activation of Pm4CL2, plant resistance was enhanced. CONCLUSIONS: The crown gall resistance of 'CDR-1' is likely related to the lignin biosynthetic pathway, in which Pm4CL2 functions crucially during the plant defense response to the pathogen A. tumefaciens. The results thus offer novel insights into the defense responses and resistance mechanism of cherry rootstock 'CDR-1' against crown gall disease.

Adaptive Bipartite Event-Triggered Output Consensus of Heterogeneous Linear Multiagent Systems Under Fixed and Switching Topologies.

This article addresses the adaptive bipartite event-triggered output consensus issue for heterogeneous linear multiagent systems. We consider both cooperative interaction and antagonistic interaction between neighbor agents in both fixed and switching topologies. An adaptive bipartite compensator consisting of time-varying coupling weights and dynamic event-triggered mechanism is first proposed to estimate the leader's state in a fully distributed manner. Different from the existing methods, the proposed compensator has three advantages: 1) it does not depend on any global information of the network graph; 2) it avoids the continuous communication between neighbor agents; and 3) it is applicable for the signed communication topology. Assume that the system states are unmeasurable, and we thus design the state observer. Based on the devised compensator and observer, the distributed control law is developed such that the bipartite event-triggered output consensus problem can be achieved. Moreover, we extend the results in fixed topology to switching topology, which is more challenging in that state estimation is updated in two cases: 1) the interaction graph is switched or 2) the event-triggered mechanism is satisfied. It is proven that no agent exhibits Zeno behavior in both fixed and switching interaction topologies. Finally, two examples are provided to illustrate the feasibility of the theoretical results.

Distributed cooperative output regulation of heterogeneous linear multi-agent systems based on event- and self-triggered control with undirected topology.

In this note, the cooperative output regulation problem is considered for a kind of heterogeneous linear multi-agent systems under undirected communication topological graphs. Our approach consists of two techniques, the design of distributed dynamic observer for exosystem under the event-triggered and self-triggered control mechanisms. Firstly, a distributed event-triggered control protocol is designed, which proves that multi-agent system can achieve stability and Zeno behavior is excluded under this protocol. Secondly, a self-triggered control protocol is designed to achieve the cooperative output regulation problem of heterogeneous multi-agent system. Moreover, by designing parameter in the self-triggered mechanism, the Zeno behavior does not exist. Finally, the theoretical results are verified by a simulation of output regulation problem under two triggered mechanisms.

Distributed bipartite leader-following consensus of linear multi-agent systems with input time delay based on event-triggered transmission mechanism.

This study focuses on the distributed bipartite consensus tracking for linear multi-agent systems with input time delay based upon event-triggered transmission mechanism. Both cooperative interaction and antagonistic interaction between neighbor agents are considered. A novel distributed bipartite control technique with event-triggered mechanism is raised to address this consensus issue. Different from the existing methods, our control technique does not need continuous communication among agents, is capable of addressing the case of input delay, and is applicable for the signed communication topology. Moreover, to avoid continuous monitoring of one's own state, a self-triggered control strategy is further proposed. And when the system states cannot be measured, the observer-based bipartite control technique with event-triggered mechanism is thus put forward. Furthermore, the results in leader-following consensus are extended to containment control. It is proven that the proposed controllers fulfill the exclusion of Zeno behavior in two consensus problems. Finally, simulation experiments are used to test the practicability of the theoretical analysis.