To achieve the fast convergence and tracking precision of a robotic upper-limb exoskeleton,this paper proposes an observer-based integrated fixed-time control scheme with a backstepping method.Firstly,a typical 5 DoF(...To achieve the fast convergence and tracking precision of a robotic upper-limb exoskeleton,this paper proposes an observer-based integrated fixed-time control scheme with a backstepping method.Firstly,a typical 5 DoF(degrees of freedom)dynamics is constructed by Lagrange equations and processed for control purposes.Secondly,second-order sliding mode controllers(SOSMC)are developed and novel sliding mode surfaces are introduced to ensure the fixed-time convergence of the human-robot system.Both the reaching time and settling time are proved to be bounded with certain values independent of initial system conditions.For the purpose of rejecting the matched and unmatched disturbances,nonlinear fixed-time observers are employed to estimate the exact value of disturbances and compensate the controllers online.Ultimately,the synthesis of controllers and disturbance observers is adopted to achieve the excellent tracking performance and simulations are given to verify the effectiveness of the proposed control strategy.展开更多
Low-activation vanadium alloys,with the reference composition of V-4Cr-4Ti have been considered as one of the most promising candidate materials for structural components such as the blanket in future fusion reactors,...Low-activation vanadium alloys,with the reference composition of V-4Cr-4Ti have been considered as one of the most promising candidate materials for structural components such as the blanket in future fusion reactors,thanks to their excellent neutron irradiation resistance,superior high-temperature mechanical properties,and high compatibility with liquid lithium blankets.The self-cooled liquid lithium blanket using structural materials of vanadium alloys is an attractive concept because of the high heat transfer and high tritium breeding capability.After more than 2 decades of research,technological progress has been made in reducing the number of critical issues for application of vanadium alloys to fusion reactors.In this paper,the recent research and development activities of vanadium alloys are summarized,including significant progress achieved on fabrication technology and composition optimization,coating and corrosion,improved understanding of irradiation effects upon microstructure and material properties,retention of hydrogen isotopes,as well as advancements in joining and weld-ing.In particular,the fact that recent products from China,Japan,US and France showed similar properties which meant the fabrication technology has been almost standardized.展开更多
基金supported by National Natural Science Foundation of China (Nos. 61703134, 61703135, 61773151, 61503118 and 61871173)Natural Science Foundation of Hebei Province (Nos. F2015202150, F2016202327 and F2018202279)+3 种基金Natural Science Foundation of Tianjin (No. 17JCQNJC04400)the Foundation of Hebei Educational Committee (Nos. QN2015068 and ZD2016071)the Colleges and Universities in Hebei Province Science and Technology Research Youth Fund (No. ZC2016020)the Graduate Innovation Funding Project of Hebei Province (No. CXZZBS2017038)
文摘To achieve the fast convergence and tracking precision of a robotic upper-limb exoskeleton,this paper proposes an observer-based integrated fixed-time control scheme with a backstepping method.Firstly,a typical 5 DoF(degrees of freedom)dynamics is constructed by Lagrange equations and processed for control purposes.Secondly,second-order sliding mode controllers(SOSMC)are developed and novel sliding mode surfaces are introduced to ensure the fixed-time convergence of the human-robot system.Both the reaching time and settling time are proved to be bounded with certain values independent of initial system conditions.For the purpose of rejecting the matched and unmatched disturbances,nonlinear fixed-time observers are employed to estimate the exact value of disturbances and compensate the controllers online.Ultimately,the synthesis of controllers and disturbance observers is adopted to achieve the excellent tracking performance and simulations are given to verify the effectiveness of the proposed control strategy.
基金financially supported by the National Natural Science Foundation of China (Grant Nos. 11474167 and 51501097)the Natural Science Foundation of Shandong Province (Grant No. ZR2014EMP005)+1 种基金the Innovation Team of Jinan (Grant No. 2019GXRC035)the Key R&D Program of Shandong Province of China (Grant No. 2019QYTPY057)
文摘Low-activation vanadium alloys,with the reference composition of V-4Cr-4Ti have been considered as one of the most promising candidate materials for structural components such as the blanket in future fusion reactors,thanks to their excellent neutron irradiation resistance,superior high-temperature mechanical properties,and high compatibility with liquid lithium blankets.The self-cooled liquid lithium blanket using structural materials of vanadium alloys is an attractive concept because of the high heat transfer and high tritium breeding capability.After more than 2 decades of research,technological progress has been made in reducing the number of critical issues for application of vanadium alloys to fusion reactors.In this paper,the recent research and development activities of vanadium alloys are summarized,including significant progress achieved on fabrication technology and composition optimization,coating and corrosion,improved understanding of irradiation effects upon microstructure and material properties,retention of hydrogen isotopes,as well as advancements in joining and weld-ing.In particular,the fact that recent products from China,Japan,US and France showed similar properties which meant the fabrication technology has been almost standardized.
