广义Chaplygin气体二相流方程组的黎曼问题

Riemann Problem for the Two-phase Flow Equations with Generalized Chaplygin Gas

针对多移动机器人的路径规划、编队成形与编队保持问题,本文提出了一种集路径规划和轨迹跟踪于一体的领航-跟随者编队控制方法,实现了多机器人共同协作完成目标任务.本文首先建立了在非完整约束条件下轮式机器人的数学模型,然后通过全局坐标转换将领航-跟随模型转换为局部坐标系统误差模型,最后建立了基于领航-跟随模型的多机器人协同运动的编队控制律.通过设置合理的通信协议参数,使用matlab验证了基于领航-跟随策略的编队控制律的有效性和可行性.

The Riemann problem for the isentropic drift-flux equations of two-phase flows under the equation of state for generalized Chaplygin gas was investigated in detail in this work,and its Riemann solution consists of either a delta shock wave or the different combination of shock wave,rarefaction wave and contact discontinuity.In the delta shock wave solution,the Dirac delta function was developed simultaneously in the two densities.Moreover,the weights of Dirac delta functions for the two densities and the propagation speed of delta shock wave were calculated explicitly by using the generalized Rankine-Hugoniot conditions.