Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Observer-Based Adaptive Robust Precision Motion Control of a Multi-Joint Hydraulic Manipulator

Hydraulic manipulators are usually applied in heavy-load and harsh operation tasks.However,when faced with a complex operation,the traditional proportional-integral-derivative(PID)control may not meet requirements for high control performance.Model-based full-state-feedback control is an effective alternative,but the states of a hydraulic manipulator are not always available and reliable in practical applications,particularly the joint angular velocity measurement.Considering that it is not suitable to obtain the velocity signal directly from differentiating of position measurement,the low-pass filtering is commonly used,but it will definitely restrict the closed-loop bandwidth of the whole system.To avoid this problem and realize better control performance,this paper proposes a novel observerbased adaptive robust controller(obARC)for a multi-joint hydraulic manipulator subjected to both parametric uncertainties and the lack of accurate velocity measurement.Specifically,a nonlinear adaptive observer is first designed to handle the lack of velocity measurement with the consideration of parametric uncertainties.Then,the adaptive robust control is developed to compensate for the dynamic uncertainties,and the close-loop system robust stability is theoretically proved under the observation and control errors.Finally,comparative experiments are carried out to show that the designed controller can achieve a performance improvement over the traditional methods,specifically yielding better control accuracy owing to the closed-loop bandwidth breakthrough,which is limited by low-pass filtering in fullstate-feedback control.

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is used to denote the total uncertainties containing parameters perturbations and external disturbances.

Quantum Realities and Observer-Dependent Universes: An Advanced Observer Model

This paper presents a novel observer model that integrates quantum mechanics, relativity, idealism, and the simulation hypothesis to explain the quantum nature of the universe. The model posits a central server transmitting multi-media frames to create observer-dependent realities. Key aspects include deriving frame rates, defining quantum reality, and establishing hierarchical observer structures. The model’s impact on quantum information theory and philosophical interpretations of reality are examined, with detailed discussions on information loss and recursive frame transmission in the appendices.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

基于Observer的典型飞行学员起飞阶段操作行为差异研究

为了研究飞行学员起飞训练阶段的行为特性,选取某航校培训的150名飞行学员,在实训固态模拟机(DA-40)上执行大侧风起飞航线任务,通过多角度录像的方法记录下飞行的全过程,并选取A、B两组飞行学员(表现最好和最差)的操作视频,对其操纵动作进行编码,应用The Observer XT(12.0)行为分析软件得出两组飞行学员各行为的可视图,并结合数理统计的方法对其俯仰操纵、航向操纵、滚转操纵等行为的持续时间、发生频次、所占飞行总时长的百分比进行对比分析。结果表明:在大侧风起飞任务下,两组飞行学员的俯仰操纵和滚转操纵行为在持续时间、发生频次、所占飞行总时长的百分比差异较为明显,其他操作行为无显著性差异。

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

Interobserver and intraobserver reliability of skull base angles measured on magnetic resonance images

BACKGROUND Determination of platybasia and basilar kyphosis are significant parts of routine cranial magnetic resonance(MR)interpretations.These situations may explain a patient’s symptoms or may be associated with other anomalies.AIM To indicate the interobserver and intraobserver reliability of the skull base angles(SBA)(Koenigsberg standard)and modified SBA(mSBA)measurement techniques.METHODS In total,391 patients who had undergone cranial MR imaging were re-assessed regarding the SBA measurements.The SBA and mSBA techniques were used on MR images.Two reviewers independently measured the same angles twice within a 15-day interval,using different monitors.Intraclass correlation coefficient(ICC)was calculated to reveal the intraobserver and interobserver agreements.RESULTS There was an excellent agreement between reviewers regarding both angle measurements(ICC was 0.998 for SBA and mSBA).Excellent agreement levels were also observed for intraobserver measurements.ICC was 0.998 for SBA and 0.999 for mSBA for reviewer 1.ICC was 0.997 for SBA and 0.999 for mSBA according to the measurement results of reviewer 2.Higher SBA and mSBA values were observed for females compared to males.There was no correlation between SBA and age for SBA.However,a negative and low-level correlation was observed between mSBA values and age for both reviewers.CONCLUSION SBA and mSBA measurements indicated excellent agreement regarding interobserver and intraobserver differences.The study results showed that SBA angles were reliable measurement techniques to be used on MR images.

An extended state observer with adjustable bandwidth for measurement noise

In this paper,a bandwidth-adjustable extended state observer(ABESO)is proposed for the systems with measurement noise.It is known that increasing the bandwidth of the observer improves the tracking speed but tolerates noise,which conflicts with observation accuracy.Therefore,we introduce a bandwidth scaling factor such that ABESO is formulated to a 2-degree-of-freedom system.The observer gain is determined and the bandwidth scaling factor adjusts the bandwidth according to the tracking error.When the tracking error decreases,the bandwidth decreases to suppress the noise,otherwise the bandwidth does not change.It is proven that the error dynamics are bounded and converge in finite time.The relationship between the upper bound of the estimation error and the scaling factor is given.When the scaling factor is less than 1,the ABESO has higher estimation accuracy than the linear extended state observer(LESO).Simulations of an uncertain nonlinear system with compound disturbances show that the proposed ABESO can successfully estimate the total disturbance in noisy environments.The mean error of total disturbance of ABESO is 15.28% lower than that of LESO.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

Observer Based Control for a Class of Systems with Output Deadzone Nonlinearity

In this paper, a combination of model based adaptive design along with adaptive linear output feedback controller is used to compensate for robotic manipulator with output deadzone nonlinearity. The deadzone dynamics are utilized to adaptively estimate the deadzone parameter and a switching function is designed to eliminate the error produced in the adaptive observer dynamics. The overall design of the closed loop system ensures stability in the BIBO criterion.

基于事件触发机制的多自主水下航行器协同路径跟踪控制

针对考虑外部海洋环境扰动和内部模型不确定性的多自主水下航行器(Autonomous underwater vehicle,AUV),研究其在通信资源受限和机载能量受限下的协同路径跟踪控制问题.首先,针对水声通信信道窄造成的通信资源受限问题,设计一种基于事件触发机制(Event-triggered mechanism,ETM)的协同通信策略;然后,针对模型不确定性和海洋环境扰动问题,设计一种基于事件触发机制的线性扩张状态观测器(Extended state observer,ESO)来逼近水下航行器的未知动力学,并降低了系统采样次数;最后,针对机载能量受限问题,设计一种基于事件触发机制的动力学控制律,在保证控制精度的前提下,降低了执行机构的动作频次,从而节省了能量消耗.应用级联系统稳定性分析方法,分别验证了闭环系统是输入状态稳定的且系统不存在Zeno行为.仿真结果验证了所提基于事件触发机制的多自主水下航行器协同路径跟踪控制方法的有效性.

基于韧性理论的突发事件情报决策体系研究

[目的/意义]突发事件为我国带来的危机层出不穷,如何以国家安全与发展需求为目标导向,有效化解国家安全风险是当务之急。然而情报在突发事件的应急决策工作中发挥着重要作用。[方法/过程]以韧性理论为顶层指导,以情报决策相关概念为基础,以政府为决策主体,梳理突发事件研究方向相关文献,构建基于韧性理论的突发事件情报决策体系。从情报流、业务流、决策流三条链路为线索,纵向刻画出体系的管理流程与运行逻辑。[结果/结论]以数据驱动、知识驱动为内在推动力,将韧性、情报注入决策体系,给突发事件的决策赋予了更高层次的智能性、智慧性,完善了突发事件应急管理的体系建设工作,为政府优化政策战略提供参考,使政府治理更具弹性与兼容性。

运用.Net中委托和事件实现Observer设计模式

本文阐述在.Net平台下,利用委托和事件机制实现Observer模式来解决项目开发中遇到的问题。

2023年中国气候异常特征及主要天气气候事件

2023年,我国气候主要表现为暖干的特征,全国平均气温10.71℃,较1991—2020年气候平均偏高0.82℃,为1951年以来最暖;全国平均降水量615.0 mm,较常年偏少3.9%,为2012年以来第二少。四季气温均较常年同期偏高,其中夏、秋季分别为历史同期次高和最高;除秋季降水偏多外,其余三季降水均偏少。汛期(5—9月),全国平均降水量较常年同期偏少4.3%,为2012年以来第二少,我国中东部降水总体呈“中间多南北少”的分布。2023年,我国区域性气象干旱多发,西南地区遭遇冬春连旱;春季北方沙尘天气过程偏多;夏季前期,华北和黄淮遭受1961年以来最强高温过程;7月底至8月初,受台风杜苏芮影响,京津冀地区发生历史罕见极端强降水过程,华北地区出现“旱涝急转”;华西秋雨开始早、结束晚、雨量多;1月中旬发生年内最强寒潮过程;秋末冬初冷空气频繁入侵,12月华北和黄淮等地降雪日数偏多、积雪偏深。

基于FAERS数据库的喹硫平不良事件信号挖掘与分析

目的基于美国食品药品监督管理局(FDA)不良事件报告系统(FAERS)数据库挖掘喹硫平的药物不良事件(ADE)信号,为该药的临床安全使用提供参考。方法检索FAERS数据库中2004年至2023年共79个季度关于喹硫平的不良反应报告,同时采用报告比值比法、比例报告比值法、贝叶斯置信区间神经网络传播法、多重伽马-泊松收缩估计法,按药物不良事件术语集的首选术语(PT)和系统器官分类(SOC)对纳入的ADE报告进行分类并计算风险信号。结果共收集主要怀疑药物为喹硫平的ADE报告261725份,涉及的患者有68012例,其中以女性(37495份,55.13%)及老年患者(>65岁)(35312份,占51.9%)居多,报告国家以美国为主,结局多为其他严重后果、住院、死亡和危及患者生命。共挖掘出喹硫平阳性风险信号PT 713个,涉及SOC 27个,所得信号基本与药品说明书一致,其中报告数最多的ADE为糖尿病,且信号强度较高。报告数超过500例的ADE中,共挖掘47个阳性风险信号PT,其中横纹肌溶解为说明书中未收载的ADE。喹硫平引起ADE发生的时间不一,常在用药后30 d内或用药一年以上发生。结论临床在使用喹硫平时除应在全程关注药品说明书收录的ADE外,还应警惕说明书未提及的ADE,并且根据性别、年龄等制订个体化的用药监护方案。

基于FAERS数据库的白消安不良事件信号挖掘与分析

目的 利用美国食品药品管理局不良事件报告系统(FAERS)数据库对白消安的药品不良事件(ADE)进行研究,挖掘潜在的ADE信号,为临床安全用药提供参考。方法 检索FAERS数据库中2004年第1季度至2023年第1季度的数据,通过数据清洗、目标药物名称标准化,获得以白消安为首要怀疑药物的ADE记录。采用报告比值比法、比例报告比值法和综合标准法挖掘白消安ADE信号,并利用信息成分法进行信号强弱判断。以《国际医学用语词典》对ADE进行系统器官分类(SOC),并按照ADE发生频次和信号强度分别排序。结果 共获得20 326份以白消安为首要怀疑药物的ADE报告,涉及患者5 615例,男性患者比例高于女性(40.71%vs.30.74%);年龄小于18岁占31.56%;上报人群主要为医师(33.71%)、其他健康专业人员(24.35%)以及药师(23.86%);上报国家主要为美国(29.69%)、日本(15.78%)、法国(11.79%)。共挖掘出白消安相关ADE信号556个,其中117个ADE信号未被药品说明书收载。556个ADE信号中,发生频次前五位ADE分别为产品用于未经批准的适应证、肝小静脉闭塞症、黏膜炎症、巨细胞病毒感染和移植物抗宿主病;信号强度排名前五位ADE分别为肝小静脉闭塞症、急性移植物抗宿主病、静脉闭塞性疾病、移植物抗宿主病以及慢性移植物抗宿主病。挖掘的ADE信号共累及23个SOC,数量排名前三的SOC分别为感染及侵染类疾病,各类检查,良性、恶性及性质不明的肿瘤(包括囊状和息肉状)。结论 白消安临床应用中,应警惕肝小静脉闭塞症、感染、移植物抗宿主病、神经相关毒性和血栓性微血管病等易造成严重后果的ADE,临床药师协助医师做好ADE的预防方案,提高白消安的使用安全性。

急诊科护士突发公共卫生事件心理弹性培训方案的构建与初步应用研究

目的构建基于Kumpfer心理弹性框架理论与国际心理弹性研究计划项目组(the International Resilience Research Project,IRRP)心理弹性训练策略的心理弹性培训方案,探讨其在急诊科护士突发公共卫生事件下的应用效果。方法2022年1-6月,采用简单随机抽样法选择上海市某三级医院的急诊科护士为研究对象,按随机数字表分为对照组和观察组各30例,对照组采用常规培训和管理方法,观察组在对照组的基础上实施心理弹性培训方案。评价并比较两组护士干预前后心理弹性及应急能力的变化。结果干预后,观察组护士的心理弹性、应急能力得分均高于对照组(均P<0.05)。结论心理弹性培训方案在突发公共卫生事件下能有效提升急诊科护士的心理弹性水平,保障突发公共卫生事件应急处置工作有序开展。

PCI术后卧床便秘病人并发心脏不良事件列线图预测模型的构建

目的:分析经皮冠状动脉介入(PCI)术后卧床便秘病人并发心脏不良事件的危险因素,并建立预测列线图模型。方法:选取2020年11月—2021年10月我院收治的248例PCI围术期卧床便秘病人作为研究对象,根据病人住院治疗期间是否发生心脏不良事件分为心脏不良事件组和非心脏不良事件组。收集两组临床资料并进行单因素和二元Logistic回归分析,得出独立预测因素,基于此构建列线图风险模型,并对该模型进行预测效能评价。结果:病人心脏不良事件发生率为17.3%。单因素和二元Logistic回归分析结果表明,病人年龄≥68岁[OR=9.970,95%CI(2.599,38.251)]、平卧位排便[OR=3.308,95%CI(1.074,10.188)]、D-二聚体≥402.99 ng/mL[OR=29.901,95%CI(8.800,101.601)]和左心室射血分数≤47.46%[OR=23.540,95%CI(7.118,77.853)]是PCI术后卧床便秘病人并发心脏不良事件的独立危险因素(P<0.05)。基于以上影响因素建立列线图风险模型,验证结果显示模型一致性指数(C-index)为0.955,校正曲线显示该列线图模型具有良好的区分度及一致性。结论:PCI术后卧床便秘病人年龄、排便体位、D-二聚体水平及左室射血分数与心脏不良事件发生存在密切关系,基于此建立的列线图模型有助于临床护理人员早期识别高危病人。