This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault...This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.展开更多
In this study,we present a novel nodal integration-based particle finite element method(N-PFEM)designed for the dynamic analysis of saturated soils.Our approach incorporates the nodal integration technique into a gene...In this study,we present a novel nodal integration-based particle finite element method(N-PFEM)designed for the dynamic analysis of saturated soils.Our approach incorporates the nodal integration technique into a generalised Hellinger-Reissner(HR)variational principle,creating an implicit PFEM formulation.To mitigate the volumetric locking issue in low-order elements,we employ a node-based strain smoothing technique.By discretising field variables at the centre of smoothing cells,we achieve nodal integration over cells,eliminating the need for sophisticated mapping operations after re-meshing in the PFEM.We express the discretised governing equations as a min-max optimisation problem,which is further reformulated as a standard second-order cone programming(SOCP)problem.Stresses,pore water pressure,and displacements are simultaneously determined using the advanced primal-dual interior point method.Consequently,our numerical model offers improved accuracy for stresses and pore water pressure compared to the displacement-based PFEM formulation.Numerical experiments demonstrate that the N-PFEM efficiently captures both transient and long-term hydro-mechanical behaviour of saturated soils with high accuracy,obviating the need for stabilisation or regularisation techniques commonly employed in other nodal integration-based PFEM approaches.This work holds significant implications for the development of robust and accurate numerical tools for studying saturated soil dynamics.展开更多
This paper presents a wide-bandwidth back-illuminated modified uni-traveling-carrier photodiode(MUTC-PD)packaged with standard WR-5 rectangular waveguide for high-speed wireless communications.With optimized epitaxy s...This paper presents a wide-bandwidth back-illuminated modified uni-traveling-carrier photodiode(MUTC-PD)packaged with standard WR-5 rectangular waveguide for high-speed wireless communications.With optimized epitaxy structure and coplanar waveguide electrodes,the fabricated 4-μm-diameter PD exhibits ultra-flat frequency response and high saturation power.Integrated passive circuits including low-loss bias-tee and E-plane probe are designed to package the PD into a compact module with waveguide output.The packaged PD module has demonstrated a flat frequency response with fluctuations within±2.75 d B over a broadband of 140–220 GHz and a high saturated output power of-7.8 d Bm(166μW)at 140 GHz.For wireless communication applications,the packaged PD is used to implement 1-m free space transmission at carrier frequencies of 150.5 and 210.5 GHz,with transmission rates of 75 and 90 Gbps,respectively.展开更多
基金the National Natural Science Foundation of China(62303012,62236002,61911004,62303008)。
文摘This paper investigates the tracking control problem for unmanned underwater vehicles(UUVs)systems with sensor faults,input saturation,and external disturbance caused by waves and ocean currents.An active sensor fault-tolerant control scheme is proposed.First,the developed method only requires the inertia matrix of the UUV,without other dynamic information,and can handle both additive and multiplicative sensor faults.Subsequently,an adaptive fault-tolerant controller is designed to achieve asymptotic tracking control of the UUV by employing robust integral of the sign of error feedback method.It is shown that the effect of sensor faults is online estimated and compensated by an adaptive estimator.With the proposed controller,the tracking error and estimation error can asymptotically converge to zero.Finally,simulation results are performed to demonstrate the effectiveness of the proposed method.
基金supported by the Swiss National Science Foundation(Grant No.189882)the National Natural Science Foundation of China(Grant No.41961134032)support provided by the New Investigator Award grant from the UK Engineering and Physical Sciences Research Council(Grant No.EP/V012169/1).
文摘In this study,we present a novel nodal integration-based particle finite element method(N-PFEM)designed for the dynamic analysis of saturated soils.Our approach incorporates the nodal integration technique into a generalised Hellinger-Reissner(HR)variational principle,creating an implicit PFEM formulation.To mitigate the volumetric locking issue in low-order elements,we employ a node-based strain smoothing technique.By discretising field variables at the centre of smoothing cells,we achieve nodal integration over cells,eliminating the need for sophisticated mapping operations after re-meshing in the PFEM.We express the discretised governing equations as a min-max optimisation problem,which is further reformulated as a standard second-order cone programming(SOCP)problem.Stresses,pore water pressure,and displacements are simultaneously determined using the advanced primal-dual interior point method.Consequently,our numerical model offers improved accuracy for stresses and pore water pressure compared to the displacement-based PFEM formulation.Numerical experiments demonstrate that the N-PFEM efficiently captures both transient and long-term hydro-mechanical behaviour of saturated soils with high accuracy,obviating the need for stabilisation or regularisation techniques commonly employed in other nodal integration-based PFEM approaches.This work holds significant implications for the development of robust and accurate numerical tools for studying saturated soil dynamics.
基金supported in part by National Key Research and Development Program of China(No.2022YFB2803002)National Natural Science Foundation of China(Nos.62235005,62127814,62225405,61975093,61927811,61991443,61925104 and 61974080)Collaborative Innovation Centre of Solid-State Lighting and Energy-Saving Electronics.
文摘This paper presents a wide-bandwidth back-illuminated modified uni-traveling-carrier photodiode(MUTC-PD)packaged with standard WR-5 rectangular waveguide for high-speed wireless communications.With optimized epitaxy structure and coplanar waveguide electrodes,the fabricated 4-μm-diameter PD exhibits ultra-flat frequency response and high saturation power.Integrated passive circuits including low-loss bias-tee and E-plane probe are designed to package the PD into a compact module with waveguide output.The packaged PD module has demonstrated a flat frequency response with fluctuations within±2.75 d B over a broadband of 140–220 GHz and a high saturated output power of-7.8 d Bm(166μW)at 140 GHz.For wireless communication applications,the packaged PD is used to implement 1-m free space transmission at carrier frequencies of 150.5 and 210.5 GHz,with transmission rates of 75 and 90 Gbps,respectively.
