Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the ...Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model. And the discrete model was transformed to the form with two linear subsystems through coordinate transformation. Two feedback control laws, time-invariant control law and time-varying control law, were proposed; and the local stabilization and global stabilization were realized respectively. The simulation results show the effectiveness of the proposed control laws. The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.展开更多
An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output f...An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.展开更多
The EWTC （East-West Transport Corridor） in the Southem part of the Baltic Sea Region includes more effective testing area of new business models for collaborative logistics flows. Since the EWTC is a corridor requir...The EWTC （East-West Transport Corridor） in the Southem part of the Baltic Sea Region includes more effective testing area of new business models for collaborative logistics flows. Since the EWTC is a corridor requiring transport mode interchanges due to crossing the Baltic Sea, development of intermodal transport solutions making different transport modes fully integrated along the corridor is a key issue for the EWTC. To meet an increased global transport demand, ports and intermodal terminals need to make sure that their facilities are prepared for growth. Thus, for ports in the EWTC it is important to offer the services necessary for handling the maritime freight services （container ships, RoRo ships, railway ferries） demanded by transporters and transport buyers. IT services are needed to support transportation activities along the corridor. This is especially important for the EWTC due to its physical nature, interchange points, multi-language and cross boarder interaction. Information on a constantly updated traffic situation and interchange status, tracking of goods, booking and confirmation services, intelligent truck parking and services opening faster border crossing routes would ensure more efficient transportation and handling thereofi It is expected that the outcomes of the recently completed eMAR project will help to develop a modem Klaipeda Seaport community system as well as effective management architecture along the EWTC based on the CSW （Corridor Single Window） approach.展开更多
The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain ...The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods.展开更多
Logistics has a good relationship with the economic utility of supply chain and the sustainable development of environment. It has been the considerable link of supply chain research. This paper analyzes and appraises...Logistics has a good relationship with the economic utility of supply chain and the sustainable development of environment. It has been the considerable link of supply chain research. This paper analyzes and appraises the effectivity of different supply chain integration projects and whether considers reverse logistics or not, by establishing DEA model of supply chain integration project that is on the basis of order and synthetically considered forward and reverse logistics, provides the growth efficiency model of input and output with preference supply chain integration project for the deci.qion.rn^le,~r展开更多
文摘Aimed at the stabilization of the nonholonomic chained system under fixed sample control, two control laws were proposed. The discrete model of the nonholonomic chained system under zero-hold was obtained through the integrate method to the continuous model. And the discrete model was transformed to the form with two linear subsystems through coordinate transformation. Two feedback control laws, time-invariant control law and time-varying control law, were proposed; and the local stabilization and global stabilization were realized respectively. The simulation results show the effectiveness of the proposed control laws. The discrete nonholonomic chained system can converge to zero from any initial state exponentially, and the convergence rate can be changed through changing the parameters of the control laws.
基金Project(60704005) supported by the National Natural Science Foundation of China Project(07ZR14119) supported by Natural Science Foundation of Shanghai Science and Technology Commission Project(2009AA04Z213) supported by the National High-Tech Research and Development Program of China
文摘An adaptive output feedback control was proposed to deal with a class of nonholonomic systems in chained form with strong nonlinear disturbances and drift terms. The objective was to design adaptive nonlinear output feedback laws such that the closed-loop systems were globally asymptotically stable, while the estimated parameters remained bounded. The proposed systematic strategy combined input-state-scaling with backstepping technique. The adaptive output feedback controller was designed for a general case of uncertain chained system. Furthermore, one special case was considered. Simulation results demonstrate the effectiveness of the proposed controllers.
文摘The EWTC （East-West Transport Corridor） in the Southem part of the Baltic Sea Region includes more effective testing area of new business models for collaborative logistics flows. Since the EWTC is a corridor requiring transport mode interchanges due to crossing the Baltic Sea, development of intermodal transport solutions making different transport modes fully integrated along the corridor is a key issue for the EWTC. To meet an increased global transport demand, ports and intermodal terminals need to make sure that their facilities are prepared for growth. Thus, for ports in the EWTC it is important to offer the services necessary for handling the maritime freight services （container ships, RoRo ships, railway ferries） demanded by transporters and transport buyers. IT services are needed to support transportation activities along the corridor. This is especially important for the EWTC due to its physical nature, interchange points, multi-language and cross boarder interaction. Information on a constantly updated traffic situation and interchange status, tracking of goods, booking and confirmation services, intelligent truck parking and services opening faster border crossing routes would ensure more efficient transportation and handling thereofi It is expected that the outcomes of the recently completed eMAR project will help to develop a modem Klaipeda Seaport community system as well as effective management architecture along the EWTC based on the CSW （Corridor Single Window） approach.
基金supported by the National Science Foundation under Grant No.60874002Key Project of Shanghai Education Committee under Grant No.09ZZ158+1 种基金Key Discipline of Shanghai under Grant No.S30501Doctoral Fund of Shandong University of Technology under Grant No.411016
文摘The visual serving stabilization for a kind of nonholonomic mobile robots with uncalibrated camera parameters is investigated based on the visual feedback and the state and input transforma- tions. The authors obtain a new uncertain model of the nonholonomic kinematic system in the image plane, which is a chained form with uncalibrated visual parameters, from the camera robotic system. A new time varying feedback controller is proposed for the exponential stabilization of the nonholonomic chained system with unknown parameters by using state-scaling and switching technique. The exponential stability of the closed loop system is rigorously proved. Simulation results demonstrate the effectiveness of the proposed methods.
文摘Logistics has a good relationship with the economic utility of supply chain and the sustainable development of environment. It has been the considerable link of supply chain research. This paper analyzes and appraises the effectivity of different supply chain integration projects and whether considers reverse logistics or not, by establishing DEA model of supply chain integration project that is on the basis of order and synthetically considered forward and reverse logistics, provides the growth efficiency model of input and output with preference supply chain integration project for the deci.qion.rn^le,~r
