We study the above-threshold ionization(ATI)process of atoms exposed to fundamental and high-frequency lasers with arbitrary ellipticity by applying the frequency-domain theory.It is found that the angular-resolved AT...We study the above-threshold ionization(ATI)process of atoms exposed to fundamental and high-frequency lasers with arbitrary ellipticity by applying the frequency-domain theory.It is found that the angular-resolved ATI spectrum is sensitive to ellipticities of two lasers and emitted angles of the photoelectron.Particularly for the photon energy of the highfrequency laser more than atomic ionization potential,the width of plateau tends to a constant with increasing ellipticity of fundamental field,the dip structure disappears with increasing ellipticity of the high-frequency field.With the help of the quantum channel analysis,it is shown that the angular distribution depends mainly on the ellipticity of high-frequency field in the case that its frequency is high.Moreover,one can see that the maximal and minimal energies in quantum numerical results are in good agreement with the classical prediction.Our investigation may provide theoretical support for experimental research on polarization control of ionization in elliptically polarized two-color laser fields.展开更多
Background:Polysaccharides have various biological activities;the complexation of polysaccharides with trace element ions can produce synergistic effects,improving the original biological activities of sugars and trac...Background:Polysaccharides have various biological activities;the complexation of polysaccharides with trace element ions can produce synergistic effects,improving the original biological activities of sugars and trace elements.Methods:The preparation process of chitosan oligosaccharide selenium(COSSe)was optimized by the response surface method,followed by a detailed analysis of the resultant compound’s characteristics.The anti-cancer activity of COSSe was studied using the human ovarian cancer cell line SKOV3 as a cell model.Results:The prepared COSSe response surface was well predicted,indicating successful chitosan oligosaccharide binding with selenium.Response surface method analyses identified the optimal synthesis conditions for COSSe:the reaction time of 5.08 h,the reaction temperature of 71.8°C,and mass ratio(Na2SeO3:chitosan oligosaccharide)of 1.02.Under the optimal conditions,the final product,the selenium content,reached 1.302%.The results of cell experiments showed that COSSe significantly inhibited SKOV3 proliferation in a concentration-dependent manner.RNA-seq results showed that chitosan oligosaccharide and COSSe significantly modulated the expression of genes’DNA metabolic processes and cell cycle in SKOV3 cells.Gene enrichment analysis showed the inhibition of the cell cycle,and the results of flow cytometry showed that SKOV3 cells increased in the S phase and decreased in the G2/M phase,with a noted suppression in the protein expression of cyclin-dependent kinase 2(CDK2)and cyclin A1(CCNA1).Conclusion:COSSe has a stronger effect than chitosan oligosaccharide,leading to the arrest of the cell cycle in the S phase.Thus,COSSe may be an effective candidate for the treatment of ovarian cancer.展开更多
Objective The aim of this study was to test whether carcinoembryonic antigen(CEA) and cytokeratin 19 fragments(CYFRA21-1) can be used as a prognostic factor for non-small-cell lung cancer(NSCLC) after two cycles of ad...Objective The aim of this study was to test whether carcinoembryonic antigen(CEA) and cytokeratin 19 fragments(CYFRA21-1) can be used as a prognostic factor for non-small-cell lung cancer(NSCLC) after two cycles of adjuvant chemotherapy in NSCLC patients. Methods A total of 169 patients underwent at least two cycles of adjuvant chemotherapy.The serum levels of CEA and CYFRA21-1 were recorded after the second cycle of chemotherapy,and the patient follow-up was conducted.Overall survival(OS) and diseasefree survival(DFS) were used as the primary endpoint and the secondary endpoint,respectively. Results The high levels of CEA and CYFRA21-1 after two cycles of adjuvant chemotherapy were poor prognostic factors for OS,with risk ratios(RR) of 2.003 and 1.702,respectively.A high CEA level was a poor prognostic factor(RR 1.152) for DFS.The median survival time(MST) of the high CEA level group was 26 months,whereas that of the normal group was 61 months(P<0.0001).The median DFS time of the high CEA group and the normal group was 34 and 53 months,respectively(P<0.0001).The MST of the high CYFRA21-1 group and the normal group was 43 and 56 months,respectively(PO.0001). Conclusions The high serum levels of CEA or CYFRA21-1 after two cycles of adjuvant chemotherapy are poor prognostic factors for NSCLC patients.展开更多
This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. ...This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances.展开更多
Development of strategies to deconstruct lignocellulosic biomass in tree species is essential for biofuels and biomaterials production.We applied a wood forming tissue-specific system in a hybrid poplar to express bot...Development of strategies to deconstruct lignocellulosic biomass in tree species is essential for biofuels and biomaterials production.We applied a wood forming tissue-specific system in a hybrid poplar to express both PdSuSy(a sucrose synthase gene from Populus deltoides×P.euramericana that has not been functionally characterized)and HCHL(the hydroxycinnamoyl-CoA hydratase-lyase gene from Pseudomonas fluorescens,which inhibits lignin polymerization in Arabidopsis).The PdSuSy-HCHL overexpression poplars correspondingly driven by the promoters of Arabidopsis AtCesA7 and AtC4 H resulted in a significant increase in cellulose(>8%),xylan(>12%)and glucose(>29%)content,accompanying a reduction in galacturonic acid(>36%)content,compared to control plants.The saccharification efficiency of these overexpression poplars was dramatically increased by up to 27%,but total lignin content was unaffected.These transgenic poplars showed inhibited growth characteristics,including>16%reduced plant height,>10% reduced number of internodes,and>18% reduced fresh weight after growth of 4 months,possibly due to relatively low expression of HCHL in secondary xylem.Our results demonstrate the structural complexity and interaction of the cell wall polymers in wood tissue and outline a potential method to increase biomass saccharification in woody species.展开更多
Atmospheric inversion phenomenon directly affects the vertical movement of air, which causes the cooling heat of the cooling tower in the power plant to be blocked. Therefore, it is necessary to analyze the atmospheri...Atmospheric inversion phenomenon directly affects the vertical movement of air, which causes the cooling heat of the cooling tower in the power plant to be blocked. Therefore, it is necessary to analyze the atmospheric inversion characteristics of the research project during the design of the air cooling system. Using the low-altitude observing system of the tethered balloon, the on-site observation of the temperature below 300 m in summer is carried out for a coal-fired power integration project in Yulin, Shaanxi, China. Observations were made at 10 fixed times per day, with a cumulative observation of 46 days and 247 effective detections. The data were quality-controlled, and then linearly interpolated. According to the requirements of the project designer, the temperature data of 20, 50, 100, 150, 200, 250, 300 m was used for low-temperature inversion analysis. The research shows that the grounding inversion and low-altitude inversion can be observed at the same time. In the time and space changes, the grounding inversion temperature and intensity are significantly higher than the low-altitude inversion. The maximum inversion of grounding inversion and low-altitude inversion is 2.3?C/hm, 1.0?C/hm. Grounding inversion temperature occurs every time, the frequency is the highest at 20 o’clock, the average intensity is maximum at 17 o’clock, and the average height, maximum intensity and maximum height are maximum at 7 o’clock. When the low-altitude inversion temperature is 18 o’clock, other times can occur, and the frequency is the highest at 15 o’clock, but the inversion layer is shallow, the bottom is high and the intensity is small. Grounding inversion and low-altitude inversion can occur in all levels, and as the height increases, the grounding inversion decreases and the low-temperature inversion increases. The design of the project air cooling tower needs to fully consider the impact caused by the inverse temperature below 300 m.展开更多
Dissolution of lithium cobalt oxide(LCO)is the key step for the recovery of valuable metals(e.g.,Co and Li)from spent LCO-based lithium-ion batteries(LIBs).However,the dissolution process of LCO either needs toxic sol...Dissolution of lithium cobalt oxide(LCO)is the key step for the recovery of valuable metals(e.g.,Co and Li)from spent LCO-based lithium-ion batteries(LIBs).However,the dissolution process of LCO either needs toxic solvents,and high temperature,or shows low efficiency.Deep eutectic solvents(DESs)are potential green solvents to dissolve LCO.Here,DESs with polyethylene glycol(PEG)as hydrogen bond acceptor and ascorbic acid(AA)as hydrogen bond donor are found to dissolve LCO with 84.2%Co leaching efficiency at 80℃ and 72 h,which is higher than that from the reported references by common DESs.Furthermore,both DESs components(i.e.,PEG and AA)are cheap,biodegradable,and biocompatible.AA could be easily and abundantly extracted from natural fruits or vegetables.It provides a new guide for the green,mild,and efficient dissolution of LCO aiming at sustainable recovery of spent LIBs.展开更多
This paper proposes an experimental approach for monitoring and inspection of the formation accuracy in ultra-precision grinding (UPG) with respect to the chatter vibration. Two factors related to the grinding progr...This paper proposes an experimental approach for monitoring and inspection of the formation accuracy in ultra-precision grinding (UPG) with respect to the chatter vibration. Two factors related to the grinding progress, the grinding speed of grinding wheel and spindle, and the oil pressure of the hydrostatic bearing are taken into account to determining the accuracy. In the meantime, a mathematical model of the radius deviation caused by the micro vibration is also established and applied in the experiments. The results show that the accuracy is sensitive to the vibration and the forming accuracy is much improved with proper processing parameters. It is found that the accuracy of aspheric surface can be less than 4 μm when the grinding speed is 1400r/min and the wheel speed is 100 r/min with the oil pressure being 1.1 MPa.展开更多
Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control s...Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor.展开更多
Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to acc...Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external disturbances.Design/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system.Findings–The validity of the proposed control method has been verified through real-time experiments.The experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external disturbances.Originality/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracking performance than GASMC-TIFNN and CASMC.展开更多
基金Project supported by the National Natural Science Foundation of China (Grant Nos.12104285,12074240,12204135,12374260,12264013,12204136,92250303,and 12074418)the Guangdong Basicand Applied Basic Research Foundation (Grant No.2022A1515011742)+5 种基金the Special Scientific Research Program supported by the Shaanxi Education Department (Grant No.22JK0423)the Natural Science Basic Research Program of Shaanxi Province of China (Grant Nos.2023-JC-QN-0085 and 2023-JC-QN-0267)the Hainan Provincial Natural Science Foundation of China (Grant Nos.122CXTD504,123MS002,123QN179,123QN180,and 122QN217)the Sino-German Mobility Programme (Grant No.M-0031)the Xi’an Aeronautical Institute 2023 Innovation and Entrepreneurship Training Program for college students (Grant No.S202311736036)the Course Ideological and Political Education Program (Grant No.23ZLGC5030)。
文摘We study the above-threshold ionization(ATI)process of atoms exposed to fundamental and high-frequency lasers with arbitrary ellipticity by applying the frequency-domain theory.It is found that the angular-resolved ATI spectrum is sensitive to ellipticities of two lasers and emitted angles of the photoelectron.Particularly for the photon energy of the highfrequency laser more than atomic ionization potential,the width of plateau tends to a constant with increasing ellipticity of fundamental field,the dip structure disappears with increasing ellipticity of the high-frequency field.With the help of the quantum channel analysis,it is shown that the angular distribution depends mainly on the ellipticity of high-frequency field in the case that its frequency is high.Moreover,one can see that the maximal and minimal energies in quantum numerical results are in good agreement with the classical prediction.Our investigation may provide theoretical support for experimental research on polarization control of ionization in elliptically polarized two-color laser fields.
基金supported by Localization of oxygen radicals and enzymes in bivalve haemocytes to Jing Liu(20230058,6602423063).
文摘Background:Polysaccharides have various biological activities;the complexation of polysaccharides with trace element ions can produce synergistic effects,improving the original biological activities of sugars and trace elements.Methods:The preparation process of chitosan oligosaccharide selenium(COSSe)was optimized by the response surface method,followed by a detailed analysis of the resultant compound’s characteristics.The anti-cancer activity of COSSe was studied using the human ovarian cancer cell line SKOV3 as a cell model.Results:The prepared COSSe response surface was well predicted,indicating successful chitosan oligosaccharide binding with selenium.Response surface method analyses identified the optimal synthesis conditions for COSSe:the reaction time of 5.08 h,the reaction temperature of 71.8°C,and mass ratio(Na2SeO3:chitosan oligosaccharide)of 1.02.Under the optimal conditions,the final product,the selenium content,reached 1.302%.The results of cell experiments showed that COSSe significantly inhibited SKOV3 proliferation in a concentration-dependent manner.RNA-seq results showed that chitosan oligosaccharide and COSSe significantly modulated the expression of genes’DNA metabolic processes and cell cycle in SKOV3 cells.Gene enrichment analysis showed the inhibition of the cell cycle,and the results of flow cytometry showed that SKOV3 cells increased in the S phase and decreased in the G2/M phase,with a noted suppression in the protein expression of cyclin-dependent kinase 2(CDK2)and cyclin A1(CCNA1).Conclusion:COSSe has a stronger effect than chitosan oligosaccharide,leading to the arrest of the cell cycle in the S phase.Thus,COSSe may be an effective candidate for the treatment of ovarian cancer.
文摘Objective The aim of this study was to test whether carcinoembryonic antigen(CEA) and cytokeratin 19 fragments(CYFRA21-1) can be used as a prognostic factor for non-small-cell lung cancer(NSCLC) after two cycles of adjuvant chemotherapy in NSCLC patients. Methods A total of 169 patients underwent at least two cycles of adjuvant chemotherapy.The serum levels of CEA and CYFRA21-1 were recorded after the second cycle of chemotherapy,and the patient follow-up was conducted.Overall survival(OS) and diseasefree survival(DFS) were used as the primary endpoint and the secondary endpoint,respectively. Results The high levels of CEA and CYFRA21-1 after two cycles of adjuvant chemotherapy were poor prognostic factors for OS,with risk ratios(RR) of 2.003 and 1.702,respectively.A high CEA level was a poor prognostic factor(RR 1.152) for DFS.The median survival time(MST) of the high CEA level group was 26 months,whereas that of the normal group was 61 months(P<0.0001).The median DFS time of the high CEA group and the normal group was 34 and 53 months,respectively(P<0.0001).The MST of the high CYFRA21-1 group and the normal group was 43 and 56 months,respectively(PO.0001). Conclusions The high serum levels of CEA or CYFRA21-1 after two cycles of adjuvant chemotherapy are poor prognostic factors for NSCLC patients.
基金supported by National Natural Science Foundation of China(11372309,61304017)
文摘This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles(UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller(BSMC) with adaptive radial basis function neural network(RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances.
基金funded by National Key Program on Transgenic Research(2018ZX08020002)National Key Scientific Research Project of China(2016YFD0600104)+3 种基金National Natural Science Foundation of China(31670606,31570670,31770315 and 31701068)Major Basic Research Project of Shandong Natural Science Foundation(ZR2018ZC0335)Shandong Provincial Natural Science Foundation(ZR2017BC096 and ZR2017BC078)Taishan Scholar Program of Shandong(to G.Z.)。
文摘Development of strategies to deconstruct lignocellulosic biomass in tree species is essential for biofuels and biomaterials production.We applied a wood forming tissue-specific system in a hybrid poplar to express both PdSuSy(a sucrose synthase gene from Populus deltoides×P.euramericana that has not been functionally characterized)and HCHL(the hydroxycinnamoyl-CoA hydratase-lyase gene from Pseudomonas fluorescens,which inhibits lignin polymerization in Arabidopsis).The PdSuSy-HCHL overexpression poplars correspondingly driven by the promoters of Arabidopsis AtCesA7 and AtC4 H resulted in a significant increase in cellulose(>8%),xylan(>12%)and glucose(>29%)content,accompanying a reduction in galacturonic acid(>36%)content,compared to control plants.The saccharification efficiency of these overexpression poplars was dramatically increased by up to 27%,but total lignin content was unaffected.These transgenic poplars showed inhibited growth characteristics,including>16%reduced plant height,>10% reduced number of internodes,and>18% reduced fresh weight after growth of 4 months,possibly due to relatively low expression of HCHL in secondary xylem.Our results demonstrate the structural complexity and interaction of the cell wall polymers in wood tissue and outline a potential method to increase biomass saccharification in woody species.
文摘Atmospheric inversion phenomenon directly affects the vertical movement of air, which causes the cooling heat of the cooling tower in the power plant to be blocked. Therefore, it is necessary to analyze the atmospheric inversion characteristics of the research project during the design of the air cooling system. Using the low-altitude observing system of the tethered balloon, the on-site observation of the temperature below 300 m in summer is carried out for a coal-fired power integration project in Yulin, Shaanxi, China. Observations were made at 10 fixed times per day, with a cumulative observation of 46 days and 247 effective detections. The data were quality-controlled, and then linearly interpolated. According to the requirements of the project designer, the temperature data of 20, 50, 100, 150, 200, 250, 300 m was used for low-temperature inversion analysis. The research shows that the grounding inversion and low-altitude inversion can be observed at the same time. In the time and space changes, the grounding inversion temperature and intensity are significantly higher than the low-altitude inversion. The maximum inversion of grounding inversion and low-altitude inversion is 2.3?C/hm, 1.0?C/hm. Grounding inversion temperature occurs every time, the frequency is the highest at 20 o’clock, the average intensity is maximum at 17 o’clock, and the average height, maximum intensity and maximum height are maximum at 7 o’clock. When the low-altitude inversion temperature is 18 o’clock, other times can occur, and the frequency is the highest at 15 o’clock, but the inversion layer is shallow, the bottom is high and the intensity is small. Grounding inversion and low-altitude inversion can occur in all levels, and as the height increases, the grounding inversion decreases and the low-temperature inversion increases. The design of the project air cooling tower needs to fully consider the impact caused by the inverse temperature below 300 m.
基金This work was supported by the National Natural Science Foundation of China(22103030)Open Fund of Hebei Biomass Carbon Materials and Application Technology Innovation Center(SG2021003)Special Project for the Cultivation of Scientific and Technological Innovation Ability of College and Middle School Students in Hebei Province(22E50480D).
文摘Dissolution of lithium cobalt oxide(LCO)is the key step for the recovery of valuable metals(e.g.,Co and Li)from spent LCO-based lithium-ion batteries(LIBs).However,the dissolution process of LCO either needs toxic solvents,and high temperature,or shows low efficiency.Deep eutectic solvents(DESs)are potential green solvents to dissolve LCO.Here,DESs with polyethylene glycol(PEG)as hydrogen bond acceptor and ascorbic acid(AA)as hydrogen bond donor are found to dissolve LCO with 84.2%Co leaching efficiency at 80℃ and 72 h,which is higher than that from the reported references by common DESs.Furthermore,both DESs components(i.e.,PEG and AA)are cheap,biodegradable,and biocompatible.AA could be easily and abundantly extracted from natural fruits or vegetables.It provides a new guide for the green,mild,and efficient dissolution of LCO aiming at sustainable recovery of spent LIBs.
文摘This paper proposes an experimental approach for monitoring and inspection of the formation accuracy in ultra-precision grinding (UPG) with respect to the chatter vibration. Two factors related to the grinding progress, the grinding speed of grinding wheel and spindle, and the oil pressure of the hydrostatic bearing are taken into account to determining the accuracy. In the meantime, a mathematical model of the radius deviation caused by the micro vibration is also established and applied in the experiments. The results show that the accuracy is sensitive to the vibration and the forming accuracy is much improved with proper processing parameters. It is found that the accuracy of aspheric surface can be less than 4 μm when the grinding speed is 1400r/min and the wheel speed is 100 r/min with the oil pressure being 1.1 MPa.
文摘Purpose–The quad-rotor is an under-actuation,strong coupled nonlinear system with parameters uncertainty,unmodeled disturbance and drive capability boundedness.The purpose of the paper is to design a flight control system to regulate the aircraft track the desired trajectory and keep the attitude angles stable on account of these issues.Design/methodology/approach–Considering the dynamics of a quad-rotor,the closed-loop flight control system is divided into two nested loops:the translational outer-loop and the attitude inner-loop.In the outer-loop,the translational controller,which exports the desired attitude angles to the inner-loop,is designed based on bounded control technique.In consideration of the influence of uncertain rotational inertia and external disturbance,the backstepping sliding mode approach with adaptive gains is used in the inner-loop.The switching control strategy based on the sign functions of sliding surface is introduced into the design procedure with respect to the input saturation.Findings–The validity of the proposed flight control system was verified through numerical simulation and prototype flight experiment in this paper.Furthermore,with relation to the flying,the motor speed is kept in the predetermined scope.Originality/value–This article introduces a new flight control system designed for a quad-rotor.
文摘Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external disturbances.Design/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system.Findings–The validity of the proposed control method has been verified through real-time experiments.The experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external disturbances.Originality/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracking performance than GASMC-TIFNN and CASMC.