针对多智能体编队系统执行器发生故障时,所引起的参数不确定以及系统瞬态不稳定问题,本文采用径向基函数神经网络(radial basis function neural networks,RBFNNs)对不确定参数(未知函数)进行估计。同时,基于反推技术设计出合理的自适...针对多智能体编队系统执行器发生故障时,所引起的参数不确定以及系统瞬态不稳定问题,本文采用径向基函数神经网络(radial basis function neural networks,RBFNNs)对不确定参数(未知函数)进行估计。同时,基于反推技术设计出合理的自适应容错控制器,并通过有限时间理论保证系统实现瞬态稳定。首先,本文采用10个智能体作为被控对象,基于有向通讯拓扑结构理论,构建了非线性多智能体系统模型。其次,基于RBFNNs逼近特性,采用反推技术与动态面技术相结合,设计出合理的容错控制器,补偿多智能体中出现的未知非线性执行器故障,并采用有限时间理论解决系统瞬态不稳定问题。接着,基于Lyapunov稳定性理论分析了控制器的稳定性和快速收敛性。最后,通过两种算例对比,验证了所设计的控制器性能优于传统的反推技术,为工程实践提供了一种有效的研究思路。展开更多
Advanced testing methods for the dynamics of mechanical microdevices are necessary to develop reliable, marketable microelectromechanical systems. A system for measuring the nanometer motions of microscopic structures...Advanced testing methods for the dynamics of mechanical microdevices are necessary to develop reliable, marketable microelectromechanical systems. A system for measuring the nanometer motions of microscopic structures has been demonstrated. Stop-action images of a target have been obtained with computer microvision, microscopic interferometry, and stroboscopic illuminator. It can be developed for measuring the in-plane-rigid-body motions, surface shapes, out-of-plane motions and deformations of microstructures. A new algorithm of sub-pixel step length correlation template matching is proposed to extract the in-plane displacement from vision images. Hariharan five-step phase-shift interferometry algorithm and unwrapping algorithms are adopted to measure the out-of-plane motions. It is demonstrated that the system can measure the motions of solder wetting in surface mount technology(SMT).展开更多
Crossed beams scattering study was carried out on the F＋HD→DF＋H reaction using high- resolution H-atom Rydberg tagging time-of-flight technique. Vibrational state-resolved differential cross sections were measured,...Crossed beams scattering study was carried out on the F＋HD→DF＋H reaction using high- resolution H-atom Rydberg tagging time-of-flight technique. Vibrational state-resolved differential cross sections were measured, with partial rotational state resolution, at eight collision energies in the range of 2.51-5.60 kJ/mol. Experimental results indicated that the product angular distributions are predominantly backward scattered. As the collision energy increases, the backward scattered peak becomes broader gradually. Dependence of product vibration branching ratios on the collision energy was also determined. The experimental results show that the DF products are highly inverted in the vibrational state distribution and the DF （v＇=3） product is the most populated state. Furthermore, the DF （v＇=l） product has also been observed at collision energy above 3.97 kJ/mol.展开更多
文摘针对多智能体编队系统执行器发生故障时,所引起的参数不确定以及系统瞬态不稳定问题,本文采用径向基函数神经网络(radial basis function neural networks,RBFNNs)对不确定参数(未知函数)进行估计。同时,基于反推技术设计出合理的自适应容错控制器,并通过有限时间理论保证系统实现瞬态稳定。首先,本文采用10个智能体作为被控对象,基于有向通讯拓扑结构理论,构建了非线性多智能体系统模型。其次,基于RBFNNs逼近特性,采用反推技术与动态面技术相结合,设计出合理的容错控制器,补偿多智能体中出现的未知非线性执行器故障,并采用有限时间理论解决系统瞬态不稳定问题。接着,基于Lyapunov稳定性理论分析了控制器的稳定性和快速收敛性。最后,通过两种算例对比,验证了所设计的控制器性能优于传统的反推技术,为工程实践提供了一种有效的研究思路。
文摘Advanced testing methods for the dynamics of mechanical microdevices are necessary to develop reliable, marketable microelectromechanical systems. A system for measuring the nanometer motions of microscopic structures has been demonstrated. Stop-action images of a target have been obtained with computer microvision, microscopic interferometry, and stroboscopic illuminator. It can be developed for measuring the in-plane-rigid-body motions, surface shapes, out-of-plane motions and deformations of microstructures. A new algorithm of sub-pixel step length correlation template matching is proposed to extract the in-plane displacement from vision images. Hariharan five-step phase-shift interferometry algorithm and unwrapping algorithms are adopted to measure the out-of-plane motions. It is demonstrated that the system can measure the motions of solder wetting in surface mount technology(SMT).
基金V. ACKNOWLEDGMENTS This work was supported by the Chinese Academy of Sciences, the Ministry of Science and Technology, and the National Natural Science Foundation of China.
文摘Crossed beams scattering study was carried out on the F＋HD→DF＋H reaction using high- resolution H-atom Rydberg tagging time-of-flight technique. Vibrational state-resolved differential cross sections were measured, with partial rotational state resolution, at eight collision energies in the range of 2.51-5.60 kJ/mol. Experimental results indicated that the product angular distributions are predominantly backward scattered. As the collision energy increases, the backward scattered peak becomes broader gradually. Dependence of product vibration branching ratios on the collision energy was also determined. The experimental results show that the DF products are highly inverted in the vibrational state distribution and the DF （v＇=3） product is the most populated state. Furthermore, the DF （v＇=l） product has also been observed at collision energy above 3.97 kJ/mol.
