For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advant...For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.展开更多
A global fast convergent integrated guidance and control design approach is proposed. A disturbance observer is utilized to estimate the uncertainties of integrated guidance and control model in finite time. According...A global fast convergent integrated guidance and control design approach is proposed. A disturbance observer is utilized to estimate the uncertainties of integrated guidance and control model in finite time. According to the multiple sliding-mode surface control, the independent nonsingular terminal sliding functions are presented in each step, and all the sliding-mode surfaces run parallel. These presented sliding-mode surfaces keep zero value from a certain time, and the system states converge quickly in sliding phase. Therefore, the system response speed is increased. The proposed method offers the global convergent time analytically, which is useful to optimize the transient performance of system. Simulation results are used to verify the proposed method.展开更多
The deformation pattern and Holocene slip rate along the Fukang fault in Eastern Tianshan, China are analyzed and studied using the data obtained in field investigation. The result indicates that the Fukang fault cons...The deformation pattern and Holocene slip rate along the Fukang fault in Eastern Tianshan, China are analyzed and studied using the data obtained in field investigation. The result indicates that the Fukang fault consists of 4 low-angle south-dipping thrust faults with stepover, displaying recent tectonic activity. The movement along the termination parts of the fault is weaker, with an average vertical slip rate of 0 13～0 33 mm/a in Holocene, and along the middle part of the fault is stronger, with an average vertical slip rate larger than 1.42 mm/a in Holocene. The Holocene deformation pattern along the fault displays generally steady slip, multi-phase intermittent movement along its western segment, and persistent movement along its middle and eastern segments, which have caused rapid dislocation up to the surface in an earlier phase.展开更多
This paper focuses on the analytical derivation and the numerical simulation analyses to predict the interaction influences between a landslide and a new tunnel in mountain areas. Based on the slip-line theory, the di...This paper focuses on the analytical derivation and the numerical simulation analyses to predict the interaction influences between a landslide and a new tunnel in mountain areas. Based on the slip-line theory, the disturbance range induced by tunneling and the minimum safe distance between the tunnel vault and the sliding belt are obtained in consideration of the mechanical analyses of relaxed rocks over the tunnel opening. The influence factors for the minimum safe crossing distance are conducted,including the tunnel radius, the friction angle of surrounding rocks, the inclination angle of sliding belt,and the friction coefficient of surrounding rocks. Secondly, taking account of the compressive zone and relaxed rocks caused by tunneling, the Sarma method is employed to calculate the safety factor of landslide. Finally, the analytical solutions for interaction between the tunnel and the landslide are compared with a series of numerical simulations, considering the cases for different perpendicular distances between the tunnel vault and the sliding belt. Resultsshow that the distance between the tunnel vault and the slip zone has significant influence on the rock stress and strain. For the case of the minimum crossing distance, a plastic zone in the landslide traversed by tunneling would be formed with rather large range, which seriously threatens the stability of landslide. This work demonstrates that the minimum safe crossing distance obtained from numerical simulation is in a good agreement with that calculated by the proposed analytical solutions.展开更多
基金National Natural Science Foundation of China(No.61673042)Shanxi Province Science Foundation for Youths(No.201701D221123)。
文摘For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.
基金Project(61673386)supported by the National Natural Science Foundation of ChinaProject(2018QNJJ006)supported by the High-Tech Institute of Xi’an,China
文摘A global fast convergent integrated guidance and control design approach is proposed. A disturbance observer is utilized to estimate the uncertainties of integrated guidance and control model in finite time. According to the multiple sliding-mode surface control, the independent nonsingular terminal sliding functions are presented in each step, and all the sliding-mode surfaces run parallel. These presented sliding-mode surfaces keep zero value from a certain time, and the system states converge quickly in sliding phase. Therefore, the system response speed is increased. The proposed method offers the global convergent time analytically, which is useful to optimize the transient performance of system. Simulation results are used to verify the proposed method.
文摘The deformation pattern and Holocene slip rate along the Fukang fault in Eastern Tianshan, China are analyzed and studied using the data obtained in field investigation. The result indicates that the Fukang fault consists of 4 low-angle south-dipping thrust faults with stepover, displaying recent tectonic activity. The movement along the termination parts of the fault is weaker, with an average vertical slip rate of 0 13～0 33 mm/a in Holocene, and along the middle part of the fault is stronger, with an average vertical slip rate larger than 1.42 mm/a in Holocene. The Holocene deformation pattern along the fault displays generally steady slip, multi-phase intermittent movement along its western segment, and persistent movement along its middle and eastern segments, which have caused rapid dislocation up to the surface in an earlier phase.
基金financial support provided by Natural Science Foundation of China (Grant No. 51008188)by Shanghai Natural Science Foundation (Grant No. 15ZR1429400)+2 种基金by Open Project Program of State Key Laboratory Breeding Base of Mountain Bridge and Tunnel Engineering (Grant No. CQSLBF-Y15-1)by Open Project Program of State Key Laboratory of Geohazard Prevention and Geoenvironment Protection (Grant No. SKLGP2015K015)by the Open Project Program of Key Laboratory of Geohazard Prevention of Hilly Mountains, Ministry of Land and Resources (Grant No. 2015k005)
文摘This paper focuses on the analytical derivation and the numerical simulation analyses to predict the interaction influences between a landslide and a new tunnel in mountain areas. Based on the slip-line theory, the disturbance range induced by tunneling and the minimum safe distance between the tunnel vault and the sliding belt are obtained in consideration of the mechanical analyses of relaxed rocks over the tunnel opening. The influence factors for the minimum safe crossing distance are conducted,including the tunnel radius, the friction angle of surrounding rocks, the inclination angle of sliding belt,and the friction coefficient of surrounding rocks. Secondly, taking account of the compressive zone and relaxed rocks caused by tunneling, the Sarma method is employed to calculate the safety factor of landslide. Finally, the analytical solutions for interaction between the tunnel and the landslide are compared with a series of numerical simulations, considering the cases for different perpendicular distances between the tunnel vault and the sliding belt. Resultsshow that the distance between the tunnel vault and the slip zone has significant influence on the rock stress and strain. For the case of the minimum crossing distance, a plastic zone in the landslide traversed by tunneling would be formed with rather large range, which seriously threatens the stability of landslide. This work demonstrates that the minimum safe crossing distance obtained from numerical simulation is in a good agreement with that calculated by the proposed analytical solutions.
