In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order t...In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.展开更多
This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed comm...This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.展开更多
A knock-down factor is commonly used to take into account the obvious decline of the buckling load in a cylindrical shell caused by the inevitable imperfections. In 1968, NASA guideline SP-8007 gave knock-down factors...A knock-down factor is commonly used to take into account the obvious decline of the buckling load in a cylindrical shell caused by the inevitable imperfections. In 1968, NASA guideline SP-8007 gave knock-down factors which rely on a lower-bound curve taken from experimental data. Recent research has indicated that the NASA knock-down factors are inclined to produce very conservative estimations for the buckling load of imperfect shells, due to the limitations of the computational power and the experimental skills available five decades ago. A novel knock-down factor is proposed composed of two parts for the metallic stiffened cylinders. A deterministic study is applied to achieve the first part of the knock-down factor considering the measured geometric imperfection, the other types of imperfections are considered in the second part using a stochastic analysis. A smeared model is used to achieve the implementation of the measured geometric imperfection for the stiffened cylinder. This new robust and less conservative design for the stiffened cylinders is validated by using test results.展开更多
基金Supported by the National Natural Science Foundation of China under Grant No.60974136
文摘In considering the characteristic of a rudder,the maneuvers of a ship were described by an unmatched uncertain nonlinear mathematic model with unknown virtual control coefficient and parameter uncertainties.In order to solve the uncertainties in the ship heading control,specifically the controller singular and paramount re-estimation problem,a new multiple sliding-mode adaptive fuzzy control algorithm was proposed by combining Nussbaum gain technology,the approximation property of fuzzy logic systems,and a multiple sliding-mode control algorithm.Based on the Lyapunov function,it was proven in theory that the controller made all signals in the nonlinear system of unmatched uncertain ship motion uniformly bounded,with tracking errors converging to zero.Simulation results show that the demonstrated controller design can track a desired course fast and accurately.It also exhibits strong robustness peculiarity in relation to system uncertainties and disturbances.
文摘This paper proposed a multi-agent based architecture for outdoor mobile robot navigation where event-driven control is used to handle the dynamically changing of the environment. With the support of a distributed communication infrastructure and an event-driven situation evaluation agent, the robot can initiate action adaptive to the dynamical changes in the environment through reorganize its internal architecture. Adaptiveness and feasibility of the proposed architecture is validated through navi- gation experiments on the robot in a variety of natural outdoor environments.
基金supported by the European Community’s Seventh Framework Programme FP7/2007-2013(Grant No.282522)
文摘A knock-down factor is commonly used to take into account the obvious decline of the buckling load in a cylindrical shell caused by the inevitable imperfections. In 1968, NASA guideline SP-8007 gave knock-down factors which rely on a lower-bound curve taken from experimental data. Recent research has indicated that the NASA knock-down factors are inclined to produce very conservative estimations for the buckling load of imperfect shells, due to the limitations of the computational power and the experimental skills available five decades ago. A novel knock-down factor is proposed composed of two parts for the metallic stiffened cylinders. A deterministic study is applied to achieve the first part of the knock-down factor considering the measured geometric imperfection, the other types of imperfections are considered in the second part using a stochastic analysis. A smeared model is used to achieve the implementation of the measured geometric imperfection for the stiffened cylinder. This new robust and less conservative design for the stiffened cylinders is validated by using test results.
