UCD9240是多相位电源系统控制器，采用250ps分辨率的数字脉宽调制技术，并可通过图形用户接口（GUI）进行全面配置，实现对DC／DC负载点电源转换进行监测、控制与管理。其采用Fusion Digital Power外设，可实现全数字环路控制，并支持高...UCD9240是多相位电源系统控制器，采用250ps分辨率的数字脉宽调制技术，并可通过图形用户接口（GUI）进行全面配置，实现对DC／DC负载点电源转换进行监测、控制与管理。其采用Fusion Digital Power外设，可实现全数字环路控制，并支持高达2MHz的开关频率。该控制器正常工作时的最小电源电流仅为40mA，支持高达100条PMBus接口指令，可实现电源的控制、配置和管理功能。展开更多
In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of m...In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.展开更多
文摘UCD9240是多相位电源系统控制器，采用250ps分辨率的数字脉宽调制技术，并可通过图形用户接口（GUI）进行全面配置，实现对DC／DC负载点电源转换进行监测、控制与管理。其采用Fusion Digital Power外设，可实现全数字环路控制，并支持高达2MHz的开关频率。该控制器正常工作时的最小电源电流仅为40mA，支持高达100条PMBus接口指令，可实现电源的控制、配置和管理功能。
基金supported by the National Natural Science Foundation of China(Grant Nos.6133300861273153&61304027)
文摘In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.
