This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator （ODIN） under unknown constant environmental loads to tr...This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator （ODIN） under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle＇s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov＇s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.展开更多
This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. F...This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. For comparison, the actuator with widely used linear electrodes was also studied. Experiments were carried out using 2D particle image velocimetry. Particular attention was given to the flow topology, discharge phenomenon, and vortex formation mechanism. Results showed that a 2D wall jet was induced by the linear actuators, whereas the plasma actuators with serrated electrode introduced a series of streamwise vorticities, which might benefit flow control(e.g., enhancing the momentum transport in the separated boundary flow). In addition, the mechanism of 3D flow topology induced by the serrated DBD actuator was analyzed in detail.展开更多
基金Supported in Part by the Australian Research Council under Grant DP0988424
文摘This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator （ODIN） under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle＇s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov＇s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results.
基金supported by the National Natural Science Foundation of China (51222606)
文摘This paper presents an experimental investigation on flow field induced by a dielectric barrier discharge(DBD) plasma actuator with serrated electrodes in still air to further improve its flow control effectiveness. For comparison, the actuator with widely used linear electrodes was also studied. Experiments were carried out using 2D particle image velocimetry. Particular attention was given to the flow topology, discharge phenomenon, and vortex formation mechanism. Results showed that a 2D wall jet was induced by the linear actuators, whereas the plasma actuators with serrated electrode introduced a series of streamwise vorticities, which might benefit flow control(e.g., enhancing the momentum transport in the separated boundary flow). In addition, the mechanism of 3D flow topology induced by the serrated DBD actuator was analyzed in detail.
