This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the sing...This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness.展开更多
Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this...Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.展开更多
A molecular [Ru(bda)]-type(bda = 2,2’-bipyridine-6,6’-dicarboxylate) water oxidation catalyst with 4-vinylpyridine as the axial ligand(Complex 1) was immobilized or co-immobilized with 1-(trifluoromethyl)-4-vinylben...A molecular [Ru(bda)]-type(bda = 2,2’-bipyridine-6,6’-dicarboxylate) water oxidation catalyst with 4-vinylpyridine as the axial ligand(Complex 1) was immobilized or co-immobilized with 1-(trifluoromethyl)-4-vinylbenzene(3 F) or styrene(St) blocking units on the surface of glassy carbon(GC) electrodes by electrochemical polymerization, in order to prepare the corresponding poly-1@GC, poly-1+P3 F@GC, and poly-1+PSt@GC functional electrodes. Kinetic measurements of the electrode surface reaction revealed that [Ru(bda)] triggers the O–O bond formation via(1) the radical coupling interaction between the two metallo-oxyl radicals(I2 M) in the homo-coupling polymer(poly-1), and(2) the water nucleophilic attack(WNA) pathway in poly-1+P3 F and poly-1+PSt copolymers. The comparison of the three electrodes revealed that the second coordination sphere of the water oxidation catalysts plays vital roles in stabilizing their reaction intermediates, tuning the O–O bond formation pathways and improving the water oxidation reaction kinetics without changing the first coordination structures.展开更多
The CO_2 quenching method has been used for the first time to determine the active complex concen- tration in Nd(naph)_3-Al(i-Bu)_3 catalyst system for polymerization of phenylacetylene into polyphenylacetylene(PPA)fi...The CO_2 quenching method has been used for the first time to determine the active complex concen- tration in Nd(naph)_3-Al(i-Bu)_3 catalyst system for polymerization of phenylacetylene into polyphenylacetylene(PPA)films.The kinetics and mechanism of this polymerization have been investigated by CO_2 quenching and IR,UV analytical methods.The kinetic equation can be expressed as Rp=k[M][Cp],and the apparent activation energy is about 13.6 kJ/mol.There is self-termination of chain propagating.Models for formation of the active complex and polymerization mechanism are proposed.展开更多
A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or ...A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiplenonlinear systems. Controllers are designed to keep the subsystems in a required formation and tocoordinate the subsystems in the presence of environmental changes. A step-by-step algorithm ofcontroller design is developed. Sufficient conditions for the stability of formation tracking areproved. Simulations and experiments are conducted to demonstrate some useful coordination strategiessuch as movement with a leader, simultaneous movement, series connection of formations, andhuman-machine interaction.展开更多
Electrocatalytic water splitting is a viable technique for generating hydrogen but is precluded from the sluggish kinetics of oxygen evolution reactions(OER).Small molecule oxidation reactions with lower working poten...Electrocatalytic water splitting is a viable technique for generating hydrogen but is precluded from the sluggish kinetics of oxygen evolution reactions(OER).Small molecule oxidation reactions with lower working potentials,such as methanol oxidation reactions,are good alternatives to OER with faster kinetics.However,the typically employed Ni-based electrocatalysts have poor activity and stability.Herein,a novel three-dimensional(3D)-networking Modoped Ni(OH)_(2) with ultralow Ni-Ni coordination is synthesized,which exhibits a high MOR activity of 100 mA cm^(−2) at 1.39 V,delivering 28 mV dec^(−1) for the Tafel slope.Meanwhile,hydrogen evolution with value-added formate co-generation is boosted with a current density of more than 500 mA cm^(−2) at a cell voltage of 2.00 V for 50 h,showing excellent stability in an industrial alkaline concentration(6 M KOH).Mechanistic studies based on density functional the-ory and X-ray absorption spectroscopy showed that the improved performance is mainly attributed to the ultralow Ni-Ni coordination,3D-networking structures and Mo dopants,which improve the catalytic activity,increase the active site density and strengthen the Ni(OH)_(2)3D-networking structures,respectively.This study paves a new way for designing electrocatalysts with enhanced activity and durability for industrial energy-saving hydrogen production.展开更多
A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task ...A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.展开更多
As the central nervous system controls whole-body motion, which involves multi-joint movement, certain problems with regard to the number of variables controlled by the central nervous system arise (i.e., the “degree...As the central nervous system controls whole-body motion, which involves multi-joint movement, certain problems with regard to the number of variables controlled by the central nervous system arise (i.e., the “degree of freedom problem”). The central nervous system solves these problems not by controlling joint movements, but rather by controlling only the task-dependent center of mass (COM) position of the whole body. Although uncontrolled joint movement should be organized in a coordinate manner to form the task-dependent COM position, it is unclear what kind of law joint coordination is organized by. Hence, in the present study, we aim to clarify the shape of joint coordination by elucidating the mutual relationship between the COM trajectory and joint movement during whole-body motion. Downward squatting motions with five trunk angles are recorded by using a 3-D motion analysis system in 8 healthy males. The COM trajectory shows a task-dependent path in all trunk conditions. The shank angle decreases with an increase in the trunk angle to produce the task-dependent COM trajectory, whereas the thigh showsd a constant angle. These findings demonstrate that the COM trajectory is constrained by biomechanical dynamics and minimum muscle torques, and that the joints are organized into a lawful coordinative structure to form the COM trajectory.展开更多
Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necess...Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunovlike stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.展开更多
Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult ...Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same time.This paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)method.Firstly,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation keeping.Secondly,to fulfill obstacle avoidance efficiently in complex situations where UAVs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor considered.The judgment criterion is proposed and applied to ensure flight safety.In the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables UAVs to avoid obstacles autonomously and recover the formation rapidly when coming close to obstacles.Therefore,the method proposed here boasts good engineering application prospect.展开更多
基金supported by the National Natural Science Foundation of China(61174037)the National High Technology Research and Development Program of China(863 Program)(2012AA120602CAST20120602)
文摘This paper investigates a distributed coordination control scheme using an adaptive terminal sliding mode for formation flying spacecraft with coupled attitude and translational dynamics. In order to overcome the singularity of the traditional fast terminal sliding manifold, a novel fast terminal sliding manifold is given. And then, based on the adaptive control method, a continuous robust coordinated controller is designed to compensate external disturbances and to alleviate the chattering phenomenon. The theoretical analysis shows that the coordinated controller can guarantee the finite-time stability of the overall closed-loop system through local information exchange, and numerical simulations also demonstrate its effectiveness.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.51205277,51475319 and51575736)the National Key R&D Program of China(Grant No.2016YFC0301100)Tianjin University Elite Scholar Program
文摘Application of multiple hybrid underwater gliders （HUGs） is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field （APF） approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.
文摘A molecular [Ru(bda)]-type(bda = 2,2’-bipyridine-6,6’-dicarboxylate) water oxidation catalyst with 4-vinylpyridine as the axial ligand(Complex 1) was immobilized or co-immobilized with 1-(trifluoromethyl)-4-vinylbenzene(3 F) or styrene(St) blocking units on the surface of glassy carbon(GC) electrodes by electrochemical polymerization, in order to prepare the corresponding poly-1@GC, poly-1+P3 F@GC, and poly-1+PSt@GC functional electrodes. Kinetic measurements of the electrode surface reaction revealed that [Ru(bda)] triggers the O–O bond formation via(1) the radical coupling interaction between the two metallo-oxyl radicals(I2 M) in the homo-coupling polymer(poly-1), and(2) the water nucleophilic attack(WNA) pathway in poly-1+P3 F and poly-1+PSt copolymers. The comparison of the three electrodes revealed that the second coordination sphere of the water oxidation catalysts plays vital roles in stabilizing their reaction intermediates, tuning the O–O bond formation pathways and improving the water oxidation reaction kinetics without changing the first coordination structures.
文摘The CO_2 quenching method has been used for the first time to determine the active complex concen- tration in Nd(naph)_3-Al(i-Bu)_3 catalyst system for polymerization of phenylacetylene into polyphenylacetylene(PPA)films.The kinetics and mechanism of this polymerization have been investigated by CO_2 quenching and IR,UV analytical methods.The kinetic equation can be expressed as Rp=k[M][Cp],and the apparent activation energy is about 13.6 kJ/mol.There is self-termination of chain propagating.Models for formation of the active complex and polymerization mechanism are proposed.
文摘A general method of controller design is developed for the purpose offormation keeping and reconfiguration of nonlinear systems with multiple subsystems, such as theformation of multiple aircraft, ground vehicles, or robot arms. The model consists of multiplenonlinear systems. Controllers are designed to keep the subsystems in a required formation and tocoordinate the subsystems in the presence of environmental changes. A step-by-step algorithm ofcontroller design is developed. Sufficient conditions for the stability of formation tracking areproved. Simulations and experiments are conducted to demonstrate some useful coordination strategiessuch as movement with a leader, simultaneous movement, series connection of formations, andhuman-machine interaction.
基金We gratefully thank the financial support from the National Natural Science Foundation of China(22272108,21975163 and 22003041)Shenzhen Science and Technology Program(No.KQTD20190929173914967,JCYJ20200109110416441)the Senior Talent Research Start-up Fund of Shenzhen University(000263 and 000265).
文摘Electrocatalytic water splitting is a viable technique for generating hydrogen but is precluded from the sluggish kinetics of oxygen evolution reactions(OER).Small molecule oxidation reactions with lower working potentials,such as methanol oxidation reactions,are good alternatives to OER with faster kinetics.However,the typically employed Ni-based electrocatalysts have poor activity and stability.Herein,a novel three-dimensional(3D)-networking Modoped Ni(OH)_(2) with ultralow Ni-Ni coordination is synthesized,which exhibits a high MOR activity of 100 mA cm^(−2) at 1.39 V,delivering 28 mV dec^(−1) for the Tafel slope.Meanwhile,hydrogen evolution with value-added formate co-generation is boosted with a current density of more than 500 mA cm^(−2) at a cell voltage of 2.00 V for 50 h,showing excellent stability in an industrial alkaline concentration(6 M KOH).Mechanistic studies based on density functional the-ory and X-ray absorption spectroscopy showed that the improved performance is mainly attributed to the ultralow Ni-Ni coordination,3D-networking structures and Mo dopants,which improve the catalytic activity,increase the active site density and strengthen the Ni(OH)_(2)3D-networking structures,respectively.This study paves a new way for designing electrocatalysts with enhanced activity and durability for industrial energy-saving hydrogen production.
基金the National Natural Science Foundation of China (60428303).
文摘A new coordination scheme for multi-robot systems is proposed. A state space model of the multi- robot system is defined and constructed in which the system＇s initial and goal states are included along with the task definition and the system＇s internal and external constraints. Task accomplishment is considered a transition of the system state in its state space （SS） under the system＇s constraints. Therefore, if there exists a connectable path within reachable area of the SS from the initial state to the goal state, the task is realizable. The optimal strategy for the task realization under constraints is investigated and reached by searching for the optimal state transition trajectory of the robot system in the SS. Moreover, if there is no connectable path, which means the task cannot be performed Successfully, the task could be transformed to be realizable by making the initial state and the goal state connectable and finding a path connecting them in the system＇s SS. This might be done via adjusting the system＇s configuration and/or task constraints. Experiments of multi-robot formation control with obstacles in the environment are conducted and simulation results show the validity of the proposed method.
文摘As the central nervous system controls whole-body motion, which involves multi-joint movement, certain problems with regard to the number of variables controlled by the central nervous system arise (i.e., the “degree of freedom problem”). The central nervous system solves these problems not by controlling joint movements, but rather by controlling only the task-dependent center of mass (COM) position of the whole body. Although uncontrolled joint movement should be organized in a coordinate manner to form the task-dependent COM position, it is unclear what kind of law joint coordination is organized by. Hence, in the present study, we aim to clarify the shape of joint coordination by elucidating the mutual relationship between the COM trajectory and joint movement during whole-body motion. Downward squatting motions with five trunk angles are recorded by using a 3-D motion analysis system in 8 healthy males. The COM trajectory shows a task-dependent path in all trunk conditions. The shank angle decreases with an increase in the trunk angle to produce the task-dependent COM trajectory, whereas the thigh showsd a constant angle. These findings demonstrate that the COM trajectory is constrained by biomechanical dynamics and minimum muscle torques, and that the joints are organized into a lawful coordinative structure to form the COM trajectory.
基金supported in part by the National Key Research and Development Program of China(No.2022YFE0133100)in part by the National Natural Science Foundation of China(No.62203089)in part by the Sichuan Science and Technology Program(Nos.24NSFSC1362,2020YFSY0012).
文摘Both safety and stability are primary performance criteria for multi-unmanned aerial vehicle(multi-UAV)systems in many coordination tasks.Existing approaches often consider safety and stability separately.It is necessary and urgent to develop a safety-stability control strategy to merge these two performance criteria.In this paper,a unified approach is developed to consider safety and stability for multi-UAV formation control.The stability criterion is represented by a Lyapunov function and safety criterion is represented by a barrier function and then a relaxed converse control Lyapunov-barrier theorem is obtained.With the help of a relaxed converse control Lyapunov-barrier function(RCCLBF),a distributed safety-stability formation control strategy is proposed for the multi-UAV system.By transforming the solution of RCCLBF to a Lyapunovlike stabilization problem,we show that the proposed formation control strategy can drive the UAVs staying within a specified safe set.Simulation results are provided to validate the proposed safety-stability formation control strategy.
基金supported by Funding from the National Key Laboratory of Rotorcraft Aeromechanics,China(No.61422202108)the National Natural Science Foundation of China(No.52176009).
文摘Formation keeping is important for multiple Unmanned Aerial Vehicles(multi-UAV)to fully play their roles in cooperative combats and improve their mission success rate.However,in practical applications,it is difficult to achieve formation keeping precisely and obstacle avoidance autonomously at the same time.This paper proposes a joint control method based on robust H∞ controller and improved Artificial Potential Field(APF)method.Firstly,we build a formation flight model based on the “Leader-Follower”structure and design a robust H∞ controller with three channels X,Y and Z to eliminate dynamic uncertainties,so as to realize high-precision formation keeping.Secondly,to fulfill obstacle avoidance efficiently in complex situations where UAVs fly at high speed with high inertia,this paper comes up with the improved APF method with deformation factor considered.The judgment criterion is proposed and applied to ensure flight safety.In the end,the simulation results show that the designed controller is effective with the formation keeping a high accuracy and in the meantime,it enables UAVs to avoid obstacles autonomously and recover the formation rapidly when coming close to obstacles.Therefore,the method proposed here boasts good engineering application prospect.
