Robust adaptive precision motion control of tank horizontal stabilizer based on unknown actuator backlash compensation

Backlash nonlinearity inevitably exists in the actuator of tank horizontal stabilizer and has adverse effect on the system control performance,however,how to effectively eliminate its effect remains a pending issue.To solve this problem,a robust adaptive precision motion controller is presented in this paper to address uncertainties and unknown actuator backlash of tank horizontal actuator.The controller handles the modeling uncertainties including parameter uncertainties and unmodeled disturbances by integrating adaptive feedforward compensation and continuous nonlinear robust law.Based on the backstepping method,a smooth backlash inverse model is constructed by combining the adaptive idea.Meanwhile,the unknown backlash parameters of the system can be approximated through the parameter adaptation,and the impact of the actuator backlash nonlinearity is effectively compensated via the inverse operation,which can availably improve the tracking performance.Moreover,the adaptive law can update the disturbance ranges of tank horizontal stabilizer online in real time,which enhances the feasibility in practical engineering applications.Furthermore,the stability analysis based on Lyapunov function shows that with the existence of unmodeled disturbances and unknown actuator backlash,the designed controller guarantees excellent asymptotic output tracking performance.Extensive comparative results verify the effectiveness of the proposed control strategy.

Design of a WeChat Learning Platform for Syndrome Differentiation

Objective To design a WeChat mini program called Chinese Syndrome Differentiation Learning Platform(CSDLP)on smartphone to improve health literacy.Methods The developer tools of WeChat(Version:v1.01.170925)were used for designing and debugging the mini program.SPSS17.0 was used for statistical purposes.“View container”“Basic content”“Form component”“Navigation”and“Media components”were used for the development of the WeChat mini program.The detailed method was referred to https://mp.weixin.qq.com/debug/wxadoc/dev/.Results A WeChat mini program called CSDLP was developed.This program has three major functions which are WeChat reading,WeChat class and WeChat syndrome differentiation.The official test report showed that there were no functionality errors for the seven android smartphones(referred to as A,B,C,D,E,F and G)that CSDLP was tested on.Statistical analysis results showed that the average memory in D,E,F and G was lower than in A,B and C.Average ratio was the highest in F and the lowest in G.The average loading time was the same for all smartphones.The audio database for diagnostics using traditional Chinese medicine(TCM)and a lecture video database were based on diagnostic textbook.Our team built a syndrome differentiation database which included 51 diseases.Conclusion CSDLP can improve knowledge visualization,studying process,and information sharing in terms of the training and development of new techniques for syndrome differentiation and treatment in TCM,and it can provide a better illustration for people to understand TCM.