A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer ...A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.展开更多
The authors examined the variability in wintertime cyclone activity and storm tracks and their relation to precipitation over China for the period 1951-2006 using the observational data.Two apparent modes of variabili...The authors examined the variability in wintertime cyclone activity and storm tracks and their relation to precipitation over China for the period 1951-2006 using the observational data.Two apparent modes of variability were assumed for the cyclone activity and storm tracks.The first mode describes the oscillation in the strength of the storm tracks in East Asia,which significantly increased since the mid-1980s,whereas the second mode describes a seesaw oscillation in the storm track strength between the Central-Southeast China and northem East Asia.The storm tracks over the Central-Southeast China have increased since the late 1960s.The possible causes for the variation of the cyclone activity and storm tracks are also explored.It is shown that wintertime precipitation,which has increased since the mid-1980s,concentrates in Central-Southeast China.The enhancement may be caused by the first mode of variability of storm tracks,whereas the interannual variability of precipitation may be linked to the second mode of the storm track variability.展开更多
基金Projects(61004008,51509055)supported by the National Natural Science Foundation of ChinaProject(61422230302162223013)supported by the Laboratory of Science and Technology on Water Jet Propulsion,China
文摘A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.
基金supported by the National Basic Research Program of China(Grant No.2010CB428606)the Chinese Natural Science Foundation Key Project(Grant No.41130962)the Nansen Scientific Society
文摘The authors examined the variability in wintertime cyclone activity and storm tracks and their relation to precipitation over China for the period 1951-2006 using the observational data.Two apparent modes of variability were assumed for the cyclone activity and storm tracks.The first mode describes the oscillation in the strength of the storm tracks in East Asia,which significantly increased since the mid-1980s,whereas the second mode describes a seesaw oscillation in the storm track strength between the Central-Southeast China and northem East Asia.The storm tracks over the Central-Southeast China have increased since the late 1960s.The possible causes for the variation of the cyclone activity and storm tracks are also explored.It is shown that wintertime precipitation,which has increased since the mid-1980s,concentrates in Central-Southeast China.The enhancement may be caused by the first mode of variability of storm tracks,whereas the interannual variability of precipitation may be linked to the second mode of the storm track variability.