One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish au...One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.展开更多
IgA肾病(immunoglobulin A nephropathy,IgAN)是一类肾小球系膜区以IgA弥漫性沉积为特征的系膜增生性肾小球肾炎,其在中国的肾活检中所占的比率达30%~40%,约占原发性肾小球肾炎的45.26%[1,2]。IgAN是以IgA为主的免疫复合物沉积在肾小球...IgA肾病(immunoglobulin A nephropathy,IgAN)是一类肾小球系膜区以IgA弥漫性沉积为特征的系膜增生性肾小球肾炎,其在中国的肾活检中所占的比率达30%~40%,约占原发性肾小球肾炎的45.26%[1,2]。IgAN是以IgA为主的免疫复合物沉积在肾小球系膜区,目前诊断IgAN仍是只能以肾组织活检病理学检查来确诊[3]。展开更多
基金Project(61273138)supported by the National Natural Science Foundation of ChinaProject(14JCZDJC39300)supported by the Key Fund of Tianjin,China
文摘One of the primary difficulties in using powered parafoil(PPF) systems is the lack of effective trajectory tracking controllers since the trajectory tracking control is the essential operation for PPF to accomplish autonomous tasks. The characteristic model(CM) based all-coefficient adaptive control(ACAC) designed for PPF systems in horizontal and vertical trajectory control is proposed. The method is easy to use and convenient to adjust and test. Just a few parameters are adapted during the control process. In application, vertical and horizontal CMs are designed and ACAC controllers are constructed to control vertical altitude and horizontal trajectory of PPF based on the proposed CMs, respectively. Result analysis of different simulations shows that the applied ACAC control method is effective for trajectory tracking of the PPF systems and the approach guarantees the transient performance of the PPF systems with better disturbance rejection ability.
文摘IgA肾病(immunoglobulin A nephropathy,IgAN)是一类肾小球系膜区以IgA弥漫性沉积为特征的系膜增生性肾小球肾炎,其在中国的肾活检中所占的比率达30%~40%,约占原发性肾小球肾炎的45.26%[1,2]。IgAN是以IgA为主的免疫复合物沉积在肾小球系膜区,目前诊断IgAN仍是只能以肾组织活检病理学检查来确诊[3]。
