RESUMEN
This article investigates the tracking-oriented robust leaderless time-varying formation (TVF) control problem for unmanned aerial vehicle swarm systems (UAVSSs) with Lipschitz nonlinear dynamics under directed topology, where external disturbances are random and bounded, and communication delays (CDs) are bounded. In this article, a state-feedback control approach is adopted to make sure that a UAVSS forms a desired TVF and follows a specified trajectory when CDs and external disturbances occur. First, a novel PD-like formation control protocol with several unknown parameters and CDs is designed. The protocol contains the information of the local neighborhood status and its differential quantities. Second, the tracking-oriented robust leaderless TVF control problem with Lipschitz dynamics, external disturbances, and CDs is transformed into a problem about asymptotic stability of a lower dimensional closed-loop control system through a special matrix decomposition. Third, a theorem is proposed to determine the unknown parameters of the control protocol and the upper bound of CDs. In the theorem, sufficient conditions for a UAVSS to attain the anticipated TVF and trajectory tracking are obtained. A Lyapunov-Krasovskii (LK) functional is constructed to verify that the error among the practical flight state of UAVs, the anticipant TVF configuration, and tracking trajectory can asymptotically converge to 0. Finally, with the presentation of a simulation case, the effectiveness of the theoretical results is illustrated.
RESUMEN
What is already known about this topic?: Campylobacter is a significant foodborne pathogen that leads to global outbreaks of acute gastroenteritis (AGE) usually affecting less than 30 individuals. Human sapovirus (HuSaV) is an enteric virus responsible for sporadic cases and outbreaks of AGE worldwide. In a study conducted in Beijing, HuSaV detection ranked second after norovirus. What is added by this report?: We present a discussion of the first large-scale outbreak of AGE caused by both Campylobacter coli (C. coli) and HuSaV. The outbreak involved a total of 996 patients and exhibited two distinct peaks over a period of 17 days. Through case-control studies, we identified exposure to raw water from a secondary water supply system as a significant risk factor. Among 83 patients, 49 samples tested positive for C. coli, 39 samples tested positive for HuSaV, and 27 samples tested positive for both pathogens using real-time polymerase chain reaction detection. Furthermore, whole-genome sequencing of 17 C. coli isolates obtained from 17 patients revealed that all isolates belonged to a highly clonal strain of C. coli. What are the implications for public health practice?: Outbreaks of AGE resulting from multiple pathogen infections warrant increased attention. This report emphasizes the significance of ensuring the safety of drinking water, particularly in secondary supply systems.
