Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control sy...Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.展开更多
With the widespread application of distributed systems, many problems need to be solved urgently. How to design distributed optimization strategies has become a research hotspot. This article focuses on the solution r...With the widespread application of distributed systems, many problems need to be solved urgently. How to design distributed optimization strategies has become a research hotspot. This article focuses on the solution rate of the distributed convex optimization algorithm. Each agent in the network has its own convex cost function. We consider a gradient-based distributed method and use a push-pull gradient algorithm to minimize the total cost function. Inspired by the current multi-agent consensus cooperation protocol for distributed convex optimization algorithm, a distributed convex optimization algorithm with finite time convergence is proposed and studied. In the end, based on a fixed undirected distributed network topology, a fast convergent distributed cooperative learning method based on a linear parameterized neural network is proposed, which is different from the existing distributed convex optimization algorithms that can achieve exponential convergence. The algorithm can achieve finite-time convergence. The convergence of the algorithm can be guaranteed by the Lyapunov method. The corresponding simulation examples also show the effectiveness of the algorithm intuitively. Compared with other algorithms, this algorithm is competitive.展开更多
For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to ...For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.展开更多
In this paper, we consider a fully discrete finite element approximation for time fractional optimal control problems. The state and adjoint state are approximated by triangular linear fi nite elements in space and &l...In this paper, we consider a fully discrete finite element approximation for time fractional optimal control problems. The state and adjoint state are approximated by triangular linear fi nite elements in space and <em>L</em>1 scheme in time. The control is obtained by the variational discretization technique. The main purpose of this work is to derive the convergence and superconvergence. A numerical example is presented to validate our theoretical results.展开更多
A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order...A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order equation is discretized with a space-time finite element method, continuous in space but discontinuous in time. Stability, existence, uniqueness and convergence of the approximate solutions are proved. Numerical results are presented to illustrate efficiency of the proposed method.展开更多
A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under considera...A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples.展开更多
In this article,a high-order scheme,which is formulated by combining the quadratic finite element method in space with a second-order time discrete scheme,is developed for looking for the numerical solution of a two-d...In this article,a high-order scheme,which is formulated by combining the quadratic finite element method in space with a second-order time discrete scheme,is developed for looking for the numerical solution of a two-dimensional nonlinear time fractional thermal diffusion model.The time Caputo fractional derivative is approximated by using the L2-1formula,the first-order derivative and nonlinear term are discretized by some second-order approximation formulas,and the quadratic finite element is used to approximate the spatial direction.The error accuracy O(h3+t2)is obtained,which is verified by the numerical results.展开更多
This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertaint...This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.展开更多
We present a numerical study of the long time behavior of approxima- tion solution to the Extended Fisher-Kolmogorov equation with periodic boundary conditions. The unique solvability of numerical solution is shown. I...We present a numerical study of the long time behavior of approxima- tion solution to the Extended Fisher-Kolmogorov equation with periodic boundary conditions. The unique solvability of numerical solution is shown. It is proved that there exists a global attractor of the discrete dynamical system. Furthermore, we obtain the long-time stability and convergence of the difference scheme and the upper semicontinuity d(Ah,τ, .A) → O. Our results show that the difference scheme can effectively simulate the infinite dimensional dynamical systems.展开更多
The finite-difference time-domain method is used to simulate the optical characteristics of an in-plane switching blue phase liquid crystal display.Compared with the matrix optic methods and the refractive method,the ...The finite-difference time-domain method is used to simulate the optical characteristics of an in-plane switching blue phase liquid crystal display.Compared with the matrix optic methods and the refractive method,the finite-difference timedomain method,which is used to directly solve Maxwell's equations,can consider the lateral variation of the refractive index and obtain an accurate convergence effect.The simulation results show that e-rays and o-rays bend in different directions when the in-plane switching blue phase liquid crystal display is driven by the operating voltage.The finitedifference time-domain method should be used when the distribution of the liquid crystal in the liquid crystal display has a large lateral change.展开更多
In this paper, we introduce high-order finite volume methods for the multi-term time fractional sub-diffusion equation. The time fractional derivatives are described in Caputo’s sense. By using some operators, we obt...In this paper, we introduce high-order finite volume methods for the multi-term time fractional sub-diffusion equation. The time fractional derivatives are described in Caputo’s sense. By using some operators, we obtain the compact finite volume scheme have high order accuracy. We use a compact operator to deal with spatial direction;then we can get the compact finite volume scheme. It is proved that the finite volume scheme is unconditionally stable and convergent in L<sub>∞</sub>-norm. The convergence order is O(τ<sup>2-α</sup> + h<sup>4</sup>). Finally, two numerical examples are given to confirm the theoretical results. Some tables listed also can explain the stability and convergence of the scheme.展开更多
Time fractional diffusion equation is usually used to describe the problems involving non-Markovian random walks. This kind of equation is obtained from the standard diffusion equation by replacing the first-order tim...Time fractional diffusion equation is usually used to describe the problems involving non-Markovian random walks. This kind of equation is obtained from the standard diffusion equation by replacing the first-order time derivative with a fractional derivative of order α∈(0, 1). In this paper, an implicit finite difference scheme for solving the time fractional diffusion equation with source term is presented and analyzed, where the fractional derivative is described in the Caputo sense. Stability and convergence of this scheme are rigorously established by a Fourier analysis. And using numerical experiments illustrates the accuracy and effectiveness of the scheme mentioned in this paper.展开更多
This work is concerned with the application of a redefined set of extended uniform cubic B-spline(RECBS)functions for the numerical treatment of time-fractional Telegraph equation.The presented technique engages finit...This work is concerned with the application of a redefined set of extended uniform cubic B-spline(RECBS)functions for the numerical treatment of time-fractional Telegraph equation.The presented technique engages finite difference formulation for discretizing the Caputo time-fractional derivatives and RECBS functions to interpolate the solution curve along the spatial grid.Stability analysis of the scheme is provided to ensure that the errors do not amplify during the execution of the numerical procedure.The derivation of uniform convergence has also been presented.Some computational experiments are executed to verify the theoretical considerations.Numerical results are compared with the existing schemes and it is concluded that the present scheme returns superior outcomes on the topic.展开更多
It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventual...It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.展开更多
To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,th...To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.展开更多
In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, ...In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor's attitude angles and the altitude position. Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor's roll angle, pitch angle, row angle and the altitude position. Real-time flight experimental results, which are performed on a quadrotor flight testbed, are included to demonstrate the good control performance of the proposed control methodology.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 61075081)State Key Laboratory of Robotics Technique and System Foundation,Harbin Institute of Technology,China(Grant No. SKIRS200802A02)
文摘Target tracking control for wheeled mobile robot (WMR) need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.
文摘With the widespread application of distributed systems, many problems need to be solved urgently. How to design distributed optimization strategies has become a research hotspot. This article focuses on the solution rate of the distributed convex optimization algorithm. Each agent in the network has its own convex cost function. We consider a gradient-based distributed method and use a push-pull gradient algorithm to minimize the total cost function. Inspired by the current multi-agent consensus cooperation protocol for distributed convex optimization algorithm, a distributed convex optimization algorithm with finite time convergence is proposed and studied. In the end, based on a fixed undirected distributed network topology, a fast convergent distributed cooperative learning method based on a linear parameterized neural network is proposed, which is different from the existing distributed convex optimization algorithms that can achieve exponential convergence. The algorithm can achieve finite-time convergence. The convergence of the algorithm can be guaranteed by the Lyapunov method. The corresponding simulation examples also show the effectiveness of the algorithm intuitively. Compared with other algorithms, this algorithm is competitive.
文摘For improving the performance of differential geometric guidance command(DGGC), a new formation of this guidance law is proposed, which can guarantee the finite time convergence(FTC) of the line of sight(LOS) rate to zero or its neighborhood against maneuvering targets in three-dimensional(3D) space. The extended state observer(ESO) is employed to estimate the target acceleration, which makes the new DGGC more applicable to practical interception scenarios. Finally, the effectiveness of this newly proposed guidance command is demonstrated by the numerical simulation results.
文摘In this paper, we consider a fully discrete finite element approximation for time fractional optimal control problems. The state and adjoint state are approximated by triangular linear fi nite elements in space and <em>L</em>1 scheme in time. The control is obtained by the variational discretization technique. The main purpose of this work is to derive the convergence and superconvergence. A numerical example is presented to validate our theoretical results.
基金supported by the National Natural Science Foundation of China (No. 10601022)NSF ofInner Mongolia Autonomous Region of China (No. 200607010106)513 and Science Fund of InnerMongolia University for Distinguished Young Scholars (No. ND0702)
文摘A mixed time discontinuous space-time finite element scheme for secondorder convection diffusion problems is constructed and analyzed. Order of the equation is lowered by the mixed finite element method. The low order equation is discretized with a space-time finite element method, continuous in space but discontinuous in time. Stability, existence, uniqueness and convergence of the approximate solutions are proved. Numerical results are presented to illustrate efficiency of the proposed method.
基金This work was supported in part by NNSF and Project 973 of China(No.60221301 and No.60334040)
文摘A method for terminal sliding mode control design is discussed. As we know, one of the strong points of terminal sliding mode control is its finite-time convergence to a given equilibrium of the system under consideration, which may be useful in specific applications. The proposed method, different from many existing terminal sliding model control desin methods, is studied, and then feedback laws are designed for a class of nonlinear systems, along with illustrative examples.
基金the National Natural Science Fund(11661058,11761053)Natural Science Fund of Inner Mongolia Autonomous Region(2016MS0102,2017MS0107)+1 种基金Program for Young Talents of Science and Technology in Universities of Inner Mongolia Autonomous Region(NJYT-17-A07)National Undergraduate Innovative Training Project of Inner Mongolia University(201710126026).
文摘In this article,a high-order scheme,which is formulated by combining the quadratic finite element method in space with a second-order time discrete scheme,is developed for looking for the numerical solution of a two-dimensional nonlinear time fractional thermal diffusion model.The time Caputo fractional derivative is approximated by using the L2-1formula,the first-order derivative and nonlinear term are discretized by some second-order approximation formulas,and the quadratic finite element is used to approximate the spatial direction.The error accuracy O(h3+t2)is obtained,which is verified by the numerical results.
文摘This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.
基金The NSF (10871055) of Chinathe Fundamental Research Funds (HEUCFL20111102)for the Central Universities
文摘We present a numerical study of the long time behavior of approxima- tion solution to the Extended Fisher-Kolmogorov equation with periodic boundary conditions. The unique solvability of numerical solution is shown. It is proved that there exists a global attractor of the discrete dynamical system. Furthermore, we obtain the long-time stability and convergence of the difference scheme and the upper semicontinuity d(Ah,τ, .A) → O. Our results show that the difference scheme can effectively simulate the infinite dimensional dynamical systems.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.11304074,61475042,and 11274088)the Natural Science Foundation of Hebei Province,China(Grant Nos.A2015202320 and GCC2014048)the Key Subject Construction Project of Hebei Province University,China
文摘The finite-difference time-domain method is used to simulate the optical characteristics of an in-plane switching blue phase liquid crystal display.Compared with the matrix optic methods and the refractive method,the finite-difference timedomain method,which is used to directly solve Maxwell's equations,can consider the lateral variation of the refractive index and obtain an accurate convergence effect.The simulation results show that e-rays and o-rays bend in different directions when the in-plane switching blue phase liquid crystal display is driven by the operating voltage.The finitedifference time-domain method should be used when the distribution of the liquid crystal in the liquid crystal display has a large lateral change.
文摘In this paper, we introduce high-order finite volume methods for the multi-term time fractional sub-diffusion equation. The time fractional derivatives are described in Caputo’s sense. By using some operators, we obtain the compact finite volume scheme have high order accuracy. We use a compact operator to deal with spatial direction;then we can get the compact finite volume scheme. It is proved that the finite volume scheme is unconditionally stable and convergent in L<sub>∞</sub>-norm. The convergence order is O(τ<sup>2-α</sup> + h<sup>4</sup>). Finally, two numerical examples are given to confirm the theoretical results. Some tables listed also can explain the stability and convergence of the scheme.
基金Supported by the Discipline Construction and Teaching Research Fund of LUTcte(20140089)
文摘Time fractional diffusion equation is usually used to describe the problems involving non-Markovian random walks. This kind of equation is obtained from the standard diffusion equation by replacing the first-order time derivative with a fractional derivative of order α∈(0, 1). In this paper, an implicit finite difference scheme for solving the time fractional diffusion equation with source term is presented and analyzed, where the fractional derivative is described in the Caputo sense. Stability and convergence of this scheme are rigorously established by a Fourier analysis. And using numerical experiments illustrates the accuracy and effectiveness of the scheme mentioned in this paper.
文摘This work is concerned with the application of a redefined set of extended uniform cubic B-spline(RECBS)functions for the numerical treatment of time-fractional Telegraph equation.The presented technique engages finite difference formulation for discretizing the Caputo time-fractional derivatives and RECBS functions to interpolate the solution curve along the spatial grid.Stability analysis of the scheme is provided to ensure that the errors do not amplify during the execution of the numerical procedure.The derivation of uniform convergence has also been presented.Some computational experiments are executed to verify the theoretical considerations.Numerical results are compared with the existing schemes and it is concluded that the present scheme returns superior outcomes on the topic.
文摘It is generally known that the solutions of deterministic and stochastic differential equations (SDEs) usually grow linearly at such a rate that they may become unbounded after a small lapse of time and may eventually blow up or explode in finite time. If the drift and diffusion functions are globally Lipschitz, linear growth may still be experienced, as well as a possible blow-up of solutions in finite time. In this paper, a nonlinear scalar delay differential equation with a constant time lag is perturbed by a multiplicative Ito-type time - space white noise to form a stochastic Fokker-Planck delay differential equation. It is established that no explosion is possible in the presence of any intrinsically slow time - space white noise of Ito - type as manifested in the resulting stochastic Fokker- Planck delay differential equation. Time - space white noise has a role to play since the solution of the classical nonlinear equation without it still exhibits explosion.
基金supported by the Funds for the Central Universities。
文摘To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.
基金This work was supported by the Key Project of Tianjin Science and Technology Support Program (No. 15ZCZDGX00810), the Natural Science Foundation of Tianjin (No. 14JCZDJC31900), and the National Natural Science Foundation of China (Nos. 91748121, 90916004, 60804004).
文摘In this paper, the control problem for a quadrotor helicopter which is subjected to modeling uncertainties and unknown external disturbance is investigated. A new nonlinear robust control strategy is proposed. First, a nonlinear complementary filter is developed to fuse the raw data from the onboard barometer and the accelerometer to decrease the negative effects from the noise associated with the low-cost onboard sensors Then the adaptive super-twisting methodology is combined with a backstepping method to formulate the nonlinear robust controller for the quadrotor's attitude angles and the altitude position. Lyapunov based stability analysis shows that finite time convergence is ensured for the closed-loop operation of the quadrotor's roll angle, pitch angle, row angle and the altitude position. Real-time flight experimental results, which are performed on a quadrotor flight testbed, are included to demonstrate the good control performance of the proposed control methodology.
基金Supported by the Science Foundation of the Education Committee of Heilongjiang Province (11541269)the Youth Foundation of Heilongjiang University (QL200804)