This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the fe...This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.展开更多
Based on the transfer matrix method and the virtual source simulation technique, this paper proposes a novel semi-analytical and semi-numerical method for solving 2-D sound- structure interaction problems under a harm...Based on the transfer matrix method and the virtual source simulation technique, this paper proposes a novel semi-analytical and semi-numerical method for solving 2-D sound- structure interaction problems under a harmonic excitation.Within any integration segment, as long as its length is small enough,along the circumferential curvilinear coordinate,the non- homogeneous matrix differential equation of an elastic ring of complex geometrical shape can be rewritten in terms of the homogeneous one by the method of extended homogeneous capacity proposed in this paper.For the exterior fluid domain,the multi-circular virtual source simulation technique is adopted.The source density distributed on each virtual circular curve may be ex- panded as the Fourier's series.Combining with the inverse fast Fourier transformation,a higher accuracy and efficiency method for solving 2-D exterior Helmholtz's problems is presented in this paper.In the aspect of solution to the coupling equations,the state vectors of elastic ring induced by the given harmonic excitation and generalized forces of coefficients of the Fourier series can be obtained respectively by using a high precision integration scheme combined with the method of extended homogeneous capacity put forward in this paper.According to the superposition princi- ple and compatibility conditions at the interface between the elastic ring and fluid,the algebraic equation of system can be directly constructed by using the least square approximation.Examples of acoustic radiation from two typical fluid-loaded elastic rings under a harmonic concentrated force are presented.Numerical results show that the method proposed is more efficient than the mixed FE-BE method in common use.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348in part by the National Major Scientific Instruments Development Project under Grant No.61927807+3 种基金in part by the Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsin part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC)in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。
文摘This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.
基金Project supported by the National Natural Science Foundation of China (No.10172038)
文摘Based on the transfer matrix method and the virtual source simulation technique, this paper proposes a novel semi-analytical and semi-numerical method for solving 2-D sound- structure interaction problems under a harmonic excitation.Within any integration segment, as long as its length is small enough,along the circumferential curvilinear coordinate,the non- homogeneous matrix differential equation of an elastic ring of complex geometrical shape can be rewritten in terms of the homogeneous one by the method of extended homogeneous capacity proposed in this paper.For the exterior fluid domain,the multi-circular virtual source simulation technique is adopted.The source density distributed on each virtual circular curve may be ex- panded as the Fourier's series.Combining with the inverse fast Fourier transformation,a higher accuracy and efficiency method for solving 2-D exterior Helmholtz's problems is presented in this paper.In the aspect of solution to the coupling equations,the state vectors of elastic ring induced by the given harmonic excitation and generalized forces of coefficients of the Fourier series can be obtained respectively by using a high precision integration scheme combined with the method of extended homogeneous capacity put forward in this paper.According to the superposition princi- ple and compatibility conditions at the interface between the elastic ring and fluid,the algebraic equation of system can be directly constructed by using the least square approximation.Examples of acoustic radiation from two typical fluid-loaded elastic rings under a harmonic concentrated force are presented.Numerical results show that the method proposed is more efficient than the mixed FE-BE method in common use.
