Adaptive Proportional-Derivative Sliding Mode Control Law With Improved Transient Performance for Underactuated Overhead Crane Systems

In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.

Electromagnetic-Thermo-Mechanical Coupling Behavior of Cu/Si Layered Thin Plate Under Pulsed Magnetic Field

Semiconductor-based electronic devices usually work under multiphysics fields rendering complex electromagnetic-thermo-mechanical coupling.In this work,we develop a penalty function method based on a finite element analysis to tackle this coupling behavior in a metal/semiconductor bilayer plate-the representative unit of semiconductor antenna,which receives strong and pulsed electromagnetic signals.Under these pulses,eddy current is generated,of which the magnitude varies remarkably from one plate to another due to the difference in electrical conductivity.In the concerned system,the metal layer generates much larger current,resulting in the large temperature rise and the nonnegligible Lorentz force,which could lead to delamination and failure of the semiconductor-based electronic device.This study provides theoretical guidance for the design and protection of semiconductor-based electronic devices in complex environments.

Symplectic Analysis on Coupling Behaviors of Spatial Fiexible Damping Beam

Although the complex structure-preserving method presented in our previous studies can be used to investigate the orbit–attitude–vibration coupled dynamic behaviors of the spatial flexible damping beam,the simulation speed still needs to be improved.In this paper,the infinite-dimensional dynamic model describing the orbit–attitude–vibration coupled dynamic problem of the spatial flexible damping beam is pretreated by the method of separation of variables,and the second-level fourth-order symplectic Runge–Kutta scheme is constructed to investigate the coupling dynamic behaviors of the spatial flexible damping beam quickly.Compared with the simulation speed of the complex structure-preserving method,the simulation speed of the symplectic Runge–Kutta method is faster,which benefits from the pretreatment step.The effect of the initial radial velocity on the transverse vibration as well as on the attitude evolution of the spatial flexible damping beam is presented in the numerical examples.From the numerical results about the effect of the initial radial velocity,it can be found that the appearance of the initial radial velocity can decrease the vibration frequency of the spatial beam and shorten the evolution interval for the attitude angle to tend towards a stable value significantly.In addition,the validity of the numerical results reported in this paper is verified by comparing with some numerical results presented in our previous studies.

Multiply Kink and Anti-Kink Solutions for a Coupled Camassa–Holm Type Equation

This article amis at revealing dynamical behavior of a coupled Camassa–Holm type equation, which was proposed by Geng and Wang based on a 4×4 matrix spectral problem with two potentials. Its kink and anti-kink solutions are presented explicitly. In particular, some exact multi-kink and anti-kink wave solutions are discussed and under some conditions, the kink and anti-kinks look like hat-shape solitons. The dynamic characters of the obtained solutions are investigated by figures. The method used in this paper can be widely applied to looking for the multi-kinks for Camassa–Holm type equations possessing cubic nonlinearity.