This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the fe...This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.展开更多
This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlle...The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.展开更多
背景:铁死亡是一种铁依赖性脂质过氧化调控的程序性细胞死亡方式,与缺血性脑损伤的发生、发展及转归密切相关。近年来,随着对铁死亡研究的不断深入,发现中药复方、中药单体可通过减轻铁超载、减少活性氧产生、调控脂质合成等方式调节铁...背景:铁死亡是一种铁依赖性脂质过氧化调控的程序性细胞死亡方式,与缺血性脑损伤的发生、发展及转归密切相关。近年来,随着对铁死亡研究的不断深入,发现中药复方、中药单体可通过减轻铁超载、减少活性氧产生、调控脂质合成等方式调节铁死亡,减轻脑缺血损伤,促进神经功能恢复。目的:探讨铁死亡与缺血性脑损伤的关系及中药调控铁死亡治疗缺血性脑损伤的作用机制。方法:以“铁死亡,缺血性中风,脑损伤,活性氧,脂质代谢,中药复方,萜类,黄酮,酚类,生物碱,苯酞类等”为中文检索词,以“Iron death,ischemic stroke,brain injury,reactive oxygen species,lipid metabolism,traditional Chinese medicine formulas,terpenes,flavonoids,phenols,alkaloids,phthalides,etc”为英文检索词,检索2018年1月至2024年5月中国知网和PubMed数据库中有关铁死亡与缺血性脑损伤及中药调控机制的文献,排除与文章相关性不高及重复、过时的文献。共检索出1526篇相关文献,最终纳入87篇文献进行综述。结果与结论:大量实验研究证实,铁死亡在缺血性脑损伤中具有重要作用,中医方药可通过多种方式调节铁死亡,如三七总皂苷可调节铁代谢,抑制脂质过氧化;香芹酚通过增加谷胱甘肽过氧化物酶4表达,抑制神经元铁死亡;中药复方和单体有效成分可调控铁死亡相关通路——谷胱甘肽/谷胱甘肽过氧化物酶4(GPX4)、核因子E2相关因子2(Nrf2)/血红素加氧酶1(HO-1)、铁死亡抑制蛋白1(FSP1)/CoQ10及鸟苷三磷酸环水解酶1(GCH1)/四氢生物喋呤(BH4)等,减少神经元损伤和死亡,发挥脑保护作用。展开更多
基金supported in part by the National Natural Science Foundation of China under Grant Nos.62173312 and 61803348in part by the National Major Scientific Instruments Development Project under Grant No.61927807+3 种基金in part by the Program for the Innovative Talents of Higher Education Institutions of ShanxiShanxi Province Science Foundation for Excellent Youthsin part by the Shanxi"1331 Project"Key Subjects Construction(1331KSC)in part by Graduate Innovation Project of Shanxi Province under Grant No.2021Y617。
文摘This article investigates a multi-circular path-following formation control with reinforced transient profiles for nonholonomic vehicles connected by a digraph.A multi-circular formation controller endowed with the feature of spatial-temporal decoupling is devised for a group of vehicles guided by a virtual leader evolving along an implicit path,which allows for a circumnavigation on multiple circles with an anticipant angular spacing.In addition,notice that it typically imposes a stringent time constraint on time-sensitive enclosing scenarios,hence an improved prescribed performance control(IPPC)using novel tighter behavior boundaries is presented to enhance transient capabilities with an ensured appointed-time convergence free from any overshoots.The significant merits are that coordinated circumnavigation along different circles can be realized via executing geometric and dynamic assignments independently with modified transient profiles.Furthermore,all variables existing in the entire system are analyzed to be convergent.Simulation and experimental results are provided to validate the utility of suggested solution.
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
基金supported by the National Natural Science Foundation of China(62073019)。
文摘The issue of achieving prescribed-performance path following in robotics is addressed in this paper,where the aim is to ensure that a desired path within a specified region is accu-rately converged to by the controlled vehicle.In this context,a novel form of the prescribed performance guiding vector field is introduced,accompanied by a prescribed-time sliding mode con-trol approach.Furthermore,the interdependence among the pre-scribed parameters is discussed.To validate the effectiveness of the proposed method,numerical simulations are presented to demonstrate the efficacy of the approach.
文摘背景:铁死亡是一种铁依赖性脂质过氧化调控的程序性细胞死亡方式,与缺血性脑损伤的发生、发展及转归密切相关。近年来,随着对铁死亡研究的不断深入,发现中药复方、中药单体可通过减轻铁超载、减少活性氧产生、调控脂质合成等方式调节铁死亡,减轻脑缺血损伤,促进神经功能恢复。目的:探讨铁死亡与缺血性脑损伤的关系及中药调控铁死亡治疗缺血性脑损伤的作用机制。方法:以“铁死亡,缺血性中风,脑损伤,活性氧,脂质代谢,中药复方,萜类,黄酮,酚类,生物碱,苯酞类等”为中文检索词,以“Iron death,ischemic stroke,brain injury,reactive oxygen species,lipid metabolism,traditional Chinese medicine formulas,terpenes,flavonoids,phenols,alkaloids,phthalides,etc”为英文检索词,检索2018年1月至2024年5月中国知网和PubMed数据库中有关铁死亡与缺血性脑损伤及中药调控机制的文献,排除与文章相关性不高及重复、过时的文献。共检索出1526篇相关文献,最终纳入87篇文献进行综述。结果与结论:大量实验研究证实,铁死亡在缺血性脑损伤中具有重要作用,中医方药可通过多种方式调节铁死亡,如三七总皂苷可调节铁代谢,抑制脂质过氧化;香芹酚通过增加谷胱甘肽过氧化物酶4表达,抑制神经元铁死亡;中药复方和单体有效成分可调控铁死亡相关通路——谷胱甘肽/谷胱甘肽过氧化物酶4(GPX4)、核因子E2相关因子2(Nrf2)/血红素加氧酶1(HO-1)、铁死亡抑制蛋白1(FSP1)/CoQ10及鸟苷三磷酸环水解酶1(GCH1)/四氢生物喋呤(BH4)等,减少神经元损伤和死亡,发挥脑保护作用。
