Nonlinear controllability and attitude stabilization are studied for the underactuated nonholonomic dynamics of a rigid spacecraft with one variable-speed control moment gyro （VSCMG）, which supplies only two interna...Nonlinear controllability and attitude stabilization are studied for the underactuated nonholonomic dynamics of a rigid spacecraft with one variable-speed control moment gyro （VSCMG）, which supplies only two internal torques. Nonlinear controllability theory is used to show that the dynamics are locally controllable from the equilibrium point and thus can be asymptotically stabilized to the equilibrium point via time-invariant piecewise continuous feedback laws or time-periodic continuous feedback laws. Specifically, when the total angular momentum of the spacecraft-VSCMG system is zero, any orientation can be a controllable equilib- rium attitude. In this case, the attitude stabilization problem is addressed by designing a kinematic stabilizing law, which is implemented through a nonlinear proportional and deriva- tive controller, using the generalized dynamic inverse （GDI） method. The steady-state instability inherent in the GDI con- troller is elegantly avoided by appropriately choosing control gains. In order to obtain the command gimbal rate and wheel acceleration from control torques, a simple steering logic is constructed to accommodate the requirements of attitude sta- bilization and singularity avoidance of the VSCMG. Illustrative numerical examples verify the efficacy of the proposed control strategy.展开更多
Several kinds of stream ciphers—complementary sequences of period sequences,partial sum of period sequences,inverse order sequences and finitely generated sequences,arestudied by using techniques of generating functi...Several kinds of stream ciphers—complementary sequences of period sequences,partial sum of period sequences,inverse order sequences and finitely generated sequences,arestudied by using techniques of generating functions.Their minimal polynomials,periods,as wellas generating functions are given.As to finitely generated sequences,the change of their linearcomplexity profiles as well as the relationship between the two generated sequences usder thecase in which the degree of connected polynomials are fixed,are discussed.展开更多
In this paper, necessary and sufficient conditions are obtained for unilateral weighted shifts to be near subnormal. As an application of the main results, many answers to the Hilbert space problem 160 are presented a...In this paper, necessary and sufficient conditions are obtained for unilateral weighted shifts to be near subnormal. As an application of the main results, many answers to the Hilbert space problem 160 are presented at the end of the paper.展开更多
In this paper, using a graph theoretic approach, we give a necessary and sufficient condition for a (0,1)-matrix to be a nonsingular generalized ultrametric matrix.
基金supported by the Innovation Foundation of BUAA for Ph.D Graduatesthe Innovation Foundation of the National Laboratory of Space Intelligent Control
文摘Nonlinear controllability and attitude stabilization are studied for the underactuated nonholonomic dynamics of a rigid spacecraft with one variable-speed control moment gyro （VSCMG）, which supplies only two internal torques. Nonlinear controllability theory is used to show that the dynamics are locally controllable from the equilibrium point and thus can be asymptotically stabilized to the equilibrium point via time-invariant piecewise continuous feedback laws or time-periodic continuous feedback laws. Specifically, when the total angular momentum of the spacecraft-VSCMG system is zero, any orientation can be a controllable equilib- rium attitude. In this case, the attitude stabilization problem is addressed by designing a kinematic stabilizing law, which is implemented through a nonlinear proportional and deriva- tive controller, using the generalized dynamic inverse （GDI） method. The steady-state instability inherent in the GDI con- troller is elegantly avoided by appropriately choosing control gains. In order to obtain the command gimbal rate and wheel acceleration from control torques, a simple steering logic is constructed to accommodate the requirements of attitude sta- bilization and singularity avoidance of the VSCMG. Illustrative numerical examples verify the efficacy of the proposed control strategy.
文摘Several kinds of stream ciphers—complementary sequences of period sequences,partial sum of period sequences,inverse order sequences and finitely generated sequences,arestudied by using techniques of generating functions.Their minimal polynomials,periods,as wellas generating functions are given.As to finitely generated sequences,the change of their linearcomplexity profiles as well as the relationship between the two generated sequences usder thecase in which the degree of connected polynomials are fixed,are discussed.
文摘In this paper, necessary and sufficient conditions are obtained for unilateral weighted shifts to be near subnormal. As an application of the main results, many answers to the Hilbert space problem 160 are presented at the end of the paper.
文摘In this paper, using a graph theoretic approach, we give a necessary and sufficient condition for a (0,1)-matrix to be a nonsingular generalized ultrametric matrix.
