Nonlinear robust adaptive control for bidirectional stabilization system of all-electric tank with unknown actuator backlash compensation and disturbance estimation

Since backlash nonlinearity is inevitably existing in actuators for bidirectional stabilization system of allelectric tank,it behaves more drastically in high maneuvering environments.In this work,the accurate tracking control for bidirectional stabilization system of moving all-electric tank with actuator backlash and unmodeled disturbance is solved.By utilizing the smooth adaptive backlash inverse model,a nonlinear robust adaptive feedback control scheme is presented.The unknown parameters and unmodelled disturbance are addressed separately through the derived parametric adaptive function and the continuous nonlinear robust term.Because the unknown backlash parameters are updated via adaptive function and the backlash effect can be suppressed successfully by inverse operation,which ensures the system stability.Meanwhile,the system disturbance in the high maneuverable environment can be estimated with the constructed adaptive law online improving the engineering practicality.Finally,Lyapunov-based analysis proves that the developed controller can ensure the tracking error asymptotically converges to zero even with unmodeled disturbance and unknown actuator backlash.Contrast co-simulations and experiments illustrate the advantages of the proposed approach.

Temperature Control of Proton Exchange Membrane Fuel Cell Based on Linear Active Disturbance Rejection Control

The performance of proton exchange membrane fuel cells is very sensitive to temperature. The electrochemical reaction results directly in temperature variations in the proton exchange membrane fuel cell. Ensuring effective temperature control is crucial to ensure fuel cell reliability and durability. This paper uses active disturbance rejection control in the thermal management system to maintain the operating temperature and the stack inlet and outlet temperature difference at the set value. First, key cooling system modules such as expansion tanks, coolant circulation pumps and radiators based on Simulink were built. Then, physical modeling and simulation of the fuel cell cooling system was carried out. In order to ensure the effectiveness of the control strategy and reduce the parameter tuning workload, an active disturbance rejection control parameter optimization method using an elite genetic algorithm was proposed. When the optimized control strategy responds to input disturbances, the maximum overshoot of the system is only 1.23% and can reach stability again in 30 s, so the fuel cell temperature can be controlled effectively. Simulation results show that the optimized control strategy can effectively control the stack temperature and coolant temperature difference under the influence of stepped charging current without interference or with interference, and has strong robustness and anti-interference capability.

AC-DC Fuzzy Linear Active Disturbance Rejection Control Strategy of Front Stage of Bidirectional Converter Based on V2G

Aiming at the problems of output voltage fluctuation and current total harmonic distortion(THD)in the front stage totem-pole bridgeless PFC of two-stage V2G(Vehicle to Grid)vehicle-mounted bi-directional converter,a fuzzy linear active disturbance rejection control strategy for V2G front-stage AC-DC power conversion system is proposed.Firstly,the topologicalworkingmode of the totem-pole bridgeless PFC is analyzed,and themathematical model is established.Combined with the system model and the linear active disturbance rejection theory,a double closed-loop controller is designed with the second-order linear active disturbance rejection control as the voltage outer loop and PI control as the current inner loop.The controller can realize self-adaptive tuning of the proportional gain coefficient of the active disturbance rejection controller through fuzzy reasoning and realize self-adaptive control.Simulation and experimental results show that this method can better solve the problems of slow system response and high total harmonic distortion rate of input current and effectively improve the system’s robustness.

Error reachable set based stabilization of switched linear systems with bounded peak disturbances

This paper investigates the error reachable set based stabilization problem for a class of discrete-time switched linear systems with bounded peak disturbances under persistent dwell-time(PDT)constraint.A double-clockdependent control scheme is presented that can split the disturbed switched system into a nominal system and an error system,and assign to each system a controller scheduled by a clock.A necessary and sufficient convex stability criterion is presented for the nominal system,and is further extended to the stabilization controller design with a nominal clock.In the presence of bounded peak disturbances,another stabilization controller with an error clock is developed for the error system,with the purpose of‘‘minimizing’’the reachable set of the error system by the ellipsoidal techniques.It is demonstrated that the disturbed system is also globally exponentially stable in the sense of converging to an over approximation of the reachable set of the error system,i.e.,a union of a family of bounding ellipsoids,that can also be regarded as the cross section of a tube containing the trajectories of the disturbed system.Two numerical examples are provided to verify the effectiveness of the developed results.

Uncertainty and disturbance estimator-based model predictive control for wet flue gas desulphurization system

Wet flue gas desulphurization technology is widely used in the industrial process for its capability of efficient pollution removal.The desulphurization control system,however,is subjected to complex reaction mechanisms and severe disturbances,which make for it difficult to achieve certain practically relevant control goals including emission and economic performances as well as system robustness.To address these challenges,a new robust control scheme based on uncertainty and disturbance estimator(UDE)and model predictive control(MPC)is proposed in this paper.The UDE is used to estimate and dynamically compensate acting disturbances,whereas MPC is deployed for optimal feedback regulation of the resultant dynamics.By viewing the system nonlinearities and unknown dynamics as disturbances,the proposed control framework allows to locally treat the considered nonlinear plant as a linear one.The obtained simulation results confirm that the utilization of UDE makes the tracking error negligibly small,even in the presence of unmodeled dynamics.In the conducted comparison study,the introduced control scheme outperforms both the standard MPC and PID(proportional-integral-derivative)control strategies in terms of transient performance and robustness.Furthermore,the results reveal that a lowpass-filter time constant has a significant effect on the robustness and the convergence range of the tracking error.

Intermittent disturbance mechanical behavior and fractional deterioration mechanical model of rock under complex true triaxial stress paths

Mechanical excavation,blasting,adjacent rockburst and fracture slip that occur during mining excavation impose dynamic loads on the rock mass,leading to further fracture of damaged surrounding rock in three-dimensional high-stress and even causing disasters.Therefore,a novel complex true triaxial static-dynamic combined loading method reflecting underground excavation damage and then frequent intermittent disturbance failure is proposed.True triaxial static compression and intermittent disturbance tests are carried out on monzogabbro.The effects of intermediate principal stress and amplitude on the strength characteristics,deformation characteristics,failure characteristics,and precursors of monzogabbro are analyzed,intermediate principal stress and amplitude increase monzogabbro strength and tensile fracture mechanism.Rapid increases in microseismic parameters during rock loading can be precursors for intermittent rock disturbance.Based on the experimental result,the new damage fractional elements and method with considering crack initiation stress and crack unstable stress as initiation and acceleration condition of intermittent disturbance irreversible deformation are proposed.A novel three-dimensional disturbance fractional deterioration model considering the intermediate principal stress effect and intermittent disturbance damage effect is established,and the model predicted results align well with the experimental results.The sensitivity of stress states and model parameters is further explored,and the intermittent disturbance behaviors at different f are predicted.This study provides valuable theoretical bases for the stability analysis of deep mining engineering under dynamic loads.

Disturbances rejection optimization based on improved two-degree-of-freedom LADRC for permanent magnet synchronous motor systems

Permanent magnet synchronous motor(PMSM)speed control systems with conventional linear active disturbance rejection control(CLADRC)strategy encounter issues regarding the coupling between dynamic response and disturbance suppression and have poor performance in suppressing complex nonlinear disturbances.In order to address these issues,this paper proposes an improved two-degree-of-freedom LADRC(TDOF-LADRC)strategy,which can enhance the disturbance rejection performance of the system while decoupling entirely the system's dynamic and anti-disturbance performance to boost the system robustness and simplify controller parameter tuning.PMSM models that consider total disturbances are developed to design the TDOF-LADRC speed controller accurately.Moreover,to evaluate the control performance of the TDOF-LADRC strategy,its stability is proven,and the influence of each controller parameter on the system control performance is analyzed.Based on it,a comparison is made between the disturbance observation ability and anti-disturbance performance of TDOF-LADRC and CLADRC to prove the superiority of TDOF-LADRC in rejecting disturbances.Finally,experiments are performed on a 750 W PMSM experimental platform,and the results demonstrate that the proposed TDOF-LADRC exhibits the properties of two degrees of freedom and improves the disturbance rejection performance of the PMSM system.

Determining the effective elastic thickness through cross-correlation between isostatic disturbances

The elastic thickness parameter was estimated using the mobile correlation technique between the observed isostatic disturbance and the gravity disturbance calculated through direct gravimetric modeling. We computed the vertical flexure value of the crust for a specific elastic thickness using a given topographic dataset. The gravity disturbance due to the topography was determined after the calculation. A grid of values for the elastic thickness parameter was generated. Then, a moving correlation was performed between the observed gravity data(representing actual surface data) and the calculated data from the forward modeling. The optimum elastic thickness of the particular point corresponded to the highest correlation coefficient. The methodology was tested on synthetic data and showed that the synthetic depth closely matched the original depth, including the elastic thickness value. To validate the results, the described procedure was applied to a real dataset from the Barreirinhas Basin, situated in the northeastern region of Brazil. The results show that the obtained crustal depth is highly correlated with the depth from known models. Additionally, we noted that the elastic thickness behaves as expected, decreasing from the continent towards the ocean. Based on the results, this method has the potential to be employed as a direct estimate of crustal depth and elastic thickness for any region.

Immunological disturbance effect of exogenous histamine towards key immune cells

Histamine in food has attracted widespread attention due to the potential toxicity and associated health risk.However,its influences on immunological components,especially the function of key immune cells,are still poorly known.In this work,we explored the effects of exogenous histamine on the function of key immune cells such as intestinal epithelial cells,dendritic cells,and T cells.The results showed that histamine could affect the expression of allergy-related genes in CMT93 cells at a high dose of histamine.Moreover,it’s found that histamine could cause an imbalance in the levels of relevant immune factors secreted by dendritic cells and T cells,especially those related to allergy.At the same time,the proportion of MHC class IIpositive dendritic cells and the proportion of T helper 2(Th2)cells in CD4^(+)T cells increased after histamine stimulation.We concluded that the presence of a certain level of histamine in food may affect the expression of allergy-related cytokines,disrupt the balance of the immune homeostasis,and potentially lead to adverse immune reactions.This work demonstrated the importance of including the estimation of histamine’s immune safety in aquatic products rather than merely considering the potential risk of food poisoning.

Derivative Spectroscopy and its Application at Detecting the Weak Emission/Absorption Lines

The development of spectroscopic survey telescopes like Large Sky Area Multi-Object Fiber Spectroscopic Telescope(LAMOST),Apache Point Observatory Galactic Evolution Experiment and Sloan Digital Sky Survey has opened up unprecedented opportunities for stellar classification.Specific types of stars,such as early-type emission-line stars and those with stellar winds,can be distinguished by the profiles of their spectral lines.In this paper,we introduce a method based on derivative spectroscopy(DS)designed to detect signals within complex backgrounds and provide a preliminary estimation of curve profiles.This method exhibits a unique advantage in identifying weak signals and unusual spectral line profiles when compared to other popular line detection methods.We validated our approach using synthesis spectra,demonstrating that DS can detect emission signals three times fainter than Gaussian fitting.Furthermore,we applied our method to 579,680 co-added spectra from LAMOST Medium-Resolution Spectroscopic Survey,identifying 16,629 spectra with emission peaks around the Hαline from 10,963 stars.These spectra were classified into three distinct morphological groups,resulting in nine subclasses as follows.(1)Emission peak above the pseudo-continuum line(single peak,double peaks,emission peak situated within an absorption line,P Cygni profile,Inverse P Cygni profile);(2)Emission peak below the pseudo-continuum line(sharp emission peak,double absorption peaks,emission peak shifted to one side of the absorption line);(3)Emission peak between the pseudo-continuum line.

Experimental,Numerical,and Analytical Studies on the Bending of Mechanically Lined Pipe

Mechanically lined pipe(MLP)is often used for offshore oil and gas transport because of its low cost and corrosion resistance.During installation and operation,the pipe may undergo severe bending deformation,which causes the liner to separate from the outer pipe and buckles,affecting the stability of the whole line.In this paper,the buckling response of MLP subjected to bending is investigated to clarify its bending characteristics by employing both experiments,numerical simulation,as theoretical methods.Two types of MLPs were manufactured with GB 45 carbon steel(SLP)and Al 6061(ALP)used as the outer pipe material,respectively.The hydraulic expansion and bending experiments of small-scale MLPs are conducted.In addition to the ovalized shape of the cross-section for the SLP specimens,the copper liner was found to wrinkle on the compressive side.In contrast,the liner of ALP remains intact without developing any wrinkling and collapse mode.In addition,a dedicated numerical framework and theoretical models were also established.It was found both the manufacturing and bending responses of the MLP can be well reproduced,and the predicted maximum moment and critical curvatures are in good agreement with the experimental results.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

Petrology of Spinel-Lherzolite Xenoliths from Mazéléand Others Northen Xenoliths Localities of Cameroon Volcanic Line: Exchange Reactions and Equilibrium State

The alkaline volcanism of the Cameroon Volcanic Line in its northern domain has raised many fresh enclaves of peridotites. The samples selected come from five (05) different localities (Liri, in the plateau of Kapsiki, Mazélé in the NE of Ngaoundéré, Tello and Ganguiré in the SE of Ngaoundéré and Likok, locality located in the west of Ngaoundé). The peridotite enclaves of the above localities show restricted mineralogical variation. Most are four-phase spinel-lherzolites, indicating that this is the main lithology that forms the lithospheric mantle below the shallow zone. No traces of garnet or primary plagioclase were detected, which strongly limits the depth range from which the rock fragments were sampled. The textures and the wide equilibrium temperatures (884˚C - 1115˚C) indicate also entrainment of lherzolite xenoliths from shallow depths within the lithosphere and the presence of mantle diapirism. The exchange reactions and equilibrium state established in this work make it possible to characterize the chemical composition of the upper mantle of each region and test the equilibrium state of the phases between them. Variations of major oxides and incompatible elemental concentrations in clinopyroxene indicate a primary control by partial melting. The absence of typical “metasomatic” minerals, low equilibration temperatures and enriched LREE patterns indicate that the upper mantle below septentrional crust of Cameroun underwent an event of cryptic metasomatic enrichment prior to partial melting. The distinctive chemical features, LREE enrichment, strong U, Ce and Pr, depletion relative to Ba, Nb, La, Pb, and T, fractionation of Zr and Hf and therefore ligh high Zr/Hf ratio, low La/Yb, Nb/La and Ti/Eu are all results of interaction of refractory peridotite residues with carbonatite melts.

Evaluation of red soil-bentonite mixtures for compacted clay liners

Compacted clay liners are an integral part of the waste landfills,which are provided to contain the leachate within the landfills and protect the surrounding environment.Generally,locally available natural soils are used for the construction of compacted clay liners if they satisfy the design criteria.However,not all soils in their natural state satisfy all the design criteria for the liner materials.Thus,there is a definite need to modify the locally available natural soils by blending with bentonite to meet the required design criteria for the liners.In view of this,the present study evaluates the suitability of an Indian red soil enhanced with bentonite as a liner material.To achieve this,a series of experiments were carried out using locally available red soil and bentonite.First,the suitability of the red soil was evaluated as a liner material.The experimental results showed that the red soil met all the selection criteria stipulated by the Environmental Protection Agencies(EPAs)for the liners except the hydraulic conductivity criterion.Therefore,the red soil was mixed with bentonite contents of 10%,20%and 30%,and the red soil-bentonite mixtures were evaluated for their suitability for liners in their compacted state.Further,as the liners in the arid and semi-arid regions are subjected to moisture variations due to seasonal moisture fluctuations and other factors,the red soil-bentonite mixtures were subjected to wetdry cycles,and their suitability was evaluated after wet-dry cycles.The experimental results revealed that all the red soil-bentonite mixtures met the stipulated EPA criteria for the liners in the as-compacted state.However,the red soil-bentonite mixtures with 20%and 30%bentonite contents only satisfied the hydraulic conductivity requirement even after wet-dry cycles.The experimental findings were supplemented with the microstructural insights captured through digital camera images,scanning electron microscopy(SEM),and mercury intrusion porosimetry(MIP)studies.

Characterization of the infectivity of an Indonesian Zika virus strain in mammalian cell lines

Objective:To characterize the infection patterns and growth characteristics of the Zika virus(ZIKV)strain JMB-185 from Indonesia in various mammalian cell lines.Methods:ZIKV was grown in human(A549,HEK293,HepG2,Huh7,Jurkat,and THP-1)and non-human mammalian(RAW264.7,Vero,and Vero76)cell lines.Viral replication kinetics were measured using plaque assay,while intra-and extracellular viral RNA concentrations were assessed using RT-PCR.Flow cytometry was used to quantify the infected cells and cell viability was measured using an MTT assay.The ability of ZIKV to infect cell lines was visualized using a fluorescence immunostaining assay.Results:This ZIKV strain preferentially infected the lung,kidney,and liver cell lines A549,HEK293,Huh7,Vero,and Vero76,but not the immune cells Jurkat,RAW264.7,and THP-1.By contrast,the ZIKV showed no sign of infection in HepG2 cells,while maintaining viral titer over 3 days post-infection,with no infection recorded in immunostaining,no increase in viral RNA,and no indication of cell deterioration.Conclusions:The Indonesian ZIKV strain has a similar infection profile as other strains,except for its poor infectivity on HepG2 cells.Information on the growth characteristics of Indonesia ZIKV will help expand our understanding of the biology of ZIKV which will be useful for various applications including antiviral discovery.

Seasonal response of nitrogen exchange fluxes to crab disturbance at sediment-water interface in coastal tidal wetlands

Coastal wetlands are hotspots for nitrogen(N)cycling,and crab burrowing is known to transform N in intertidal marsh soils.However,the underlying mechanisms remain unclear.This study conducted field experiments and used indoor control test devices to investigate the seasonal response of nitrogen to crab disturbance at the sediment-water interface in coastal tidal flat wetlands.The results showed that crab disturbance exhibited significant seasonality with large seasonal differences in cave density and depth.Due to crab disturbance,nitrogen fuxes at the sediment-water interface were much greater in the box with crabs than in the box without crabs.In summer,NH-N showed a positive flux from the sediment to the overlying water,but NO2-N and NOg-N showed positive fluxes from the sediment to the overlying water only in early stages.In winter,NH-N showed a positive flux from the sediment to the overlying water,but NO-N and NO,-N both exhibited positive and negative fluxes.These results indicated that the presence of crab burrows can cause the aerobic layer to move downward by approximately 8-15 cm in summer and directly promote nitrification at the sediment surface.

Soil disturbance evaluation of soft clay based on stress-normalized smallstrain stiffness

Soil disturbance includes the change of stress state and the damage of soil structure.The field testing indices reflect the combined effect of both changes and it is difficult to identify the soil structure disturbance directly from these indices.In the present study,the small-strain shear modulus is used to characterize soil structure disturbance by normalizing the effective stress and void ratio based on Hardin equation.The procedure for evaluating soil sampling disturbance in the field and the further disturbance during the subsequent consolidation process in laboratory test is proposed,and then validated by a case study of soft clay ground.Downhole seismic testing in the field,portable piezoelectric bender elements for the drilled sample and bender elements in triaxial apparatus for the consolidated sample were used to monitor the shear wave velocity of the soil from intact to disturbed and even remolded states.It is found that soil sampling disturbance degree by conventional thin-wall sampler is about 30%according to the proposed procedure,which is slightly higher than that from the modified volume compression method proposed by Hong and Onitsuka(1998).And the additional soil disturbance induced by consolidation in laboratory could reach about 50%when the consolidation pressure is far beyond the structural yield stress,and it follows the plastic volumetric strain quite well.

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

On traceable iterated line graph and hamiltonian path index

Xiong and Liu[21]gave a characterization of the graphs G for which the n-iterated line graph L^(n)(G)is hamiltonian,for n≥2.In this paper,we study the existence of a hamiltonian path in L^(n)(G),and give a characterization of G for which L^(n)(G)has a hamiltonian path.As applications,we use this characterization to give several upper bounds on the hamiltonian path index of a graph.

Vibration Control of A Flexible Marine Riser System Subject to Input Dead Zone and Extraneous Disturbances

An observer-based adaptive backstepping boundary control is proposed for vibration control of flexible offshore riser systems with unknown nonlinear input dead zone and uncertain environmental disturbances.The control algorithm can update the control law online through real-time data to make the controller adapt to the environment and improve the control precision.Specifically,based on the adaptive backstepping framework,virtual control laws and Lyapunov functions are designed for each subsystem.Three direction interference observers are designed to track the timevarying boundary disturbance.On this basis,the inverse of the dead zone and linear state transformation are used to compensate for the original system and eliminate the adverse effects of the dead zone.In addition,the stability of the closed-loop system is proven by Lyapunov stability theory.All the system states are bounded,and the vibration offset of the riser converges to a small area of the initial position.Finally,four examples of flexible marine risers are simulated in MATLAB to verify the effectiveness of the proposed controller.