A bow shock is formed in the interaction of a high-speed laser-driven plasma cloud with a cylinder obstacle. Its temporal and spatial structures are observed by shadowgraphy and interferometry. The width of the shock ...A bow shock is formed in the interaction of a high-speed laser-driven plasma cloud with a cylinder obstacle. Its temporal and spatial structures are observed by shadowgraphy and interferometry. The width of the shock transition region is - 50 μm, comparable to the ion–ion collision mean free path, which indicates that collision is dominated in the shock probably. The Mach-number of the ablating plasma cloud is ～ 15 at first, and decreases with time resulting in a changing shock structure. A two-dimension hydrodynamics code, USim, is used to simulate the interaction process. The simulated shocks can well reproduce the observed.展开更多
Considering that the inevitable disturbances and coupled constraints pose an ongoing challenge to distributed control algorithms,this paper proposes a distributed robust model predictive control(MPC)algorithm for a mu...Considering that the inevitable disturbances and coupled constraints pose an ongoing challenge to distributed control algorithms,this paper proposes a distributed robust model predictive control(MPC)algorithm for a multi-agent system with additive external disturbances and obstacle and collision avoidance constraints.In particular,all the agents are allowed to solve optimization problems simultaneously at each time step to obtain their control inputs,and the obstacle and collision avoidance are accomplished in the context of full-dimensional controlled objects and obstacles.To achieve the collision avoidance between agents in the distributed framework,an assumed state trajectory is introduced for each agent which is transmitted to its neighbors to construct the polyhedral over-approximations of it.Then the polyhedral over-approximations of the agent and the obstacles are used to smoothly reformulate the original nonconvex obstacle and collision avoidance constraints.And a compatibility constraint is designed to restrict the deviation between the predicted and assumed trajectories.Moreover,recursive feasibility of each local MPC optimization problem with all these constraints derived and input-to-state stability of the closed-loop system can be ensured through a sufficient condition on controller parameters.Finally,simulations with four agents and two obstacles demonstrate the efficiency of the proposed algorithm.展开更多
基金Project supported by the National Basic Research Program of China(Grant No.2013CBA01501)the National Natural Science Foundation of China(Grant Nos.11135012,11375262,11503041,and 11520101003)the Science Challenge Program of China(Grant No.JCKY2016212A505)
文摘A bow shock is formed in the interaction of a high-speed laser-driven plasma cloud with a cylinder obstacle. Its temporal and spatial structures are observed by shadowgraphy and interferometry. The width of the shock transition region is - 50 μm, comparable to the ion–ion collision mean free path, which indicates that collision is dominated in the shock probably. The Mach-number of the ablating plasma cloud is ～ 15 at first, and decreases with time resulting in a changing shock structure. A two-dimension hydrodynamics code, USim, is used to simulate the interaction process. The simulated shocks can well reproduce the observed.
基金the National Natural Science Foundation of China(Nos.62173036,62003040,62122014)the Beijing Institute of Technology Research Fund Program for Young Scholars.
文摘Considering that the inevitable disturbances and coupled constraints pose an ongoing challenge to distributed control algorithms,this paper proposes a distributed robust model predictive control(MPC)algorithm for a multi-agent system with additive external disturbances and obstacle and collision avoidance constraints.In particular,all the agents are allowed to solve optimization problems simultaneously at each time step to obtain their control inputs,and the obstacle and collision avoidance are accomplished in the context of full-dimensional controlled objects and obstacles.To achieve the collision avoidance between agents in the distributed framework,an assumed state trajectory is introduced for each agent which is transmitted to its neighbors to construct the polyhedral over-approximations of it.Then the polyhedral over-approximations of the agent and the obstacles are used to smoothly reformulate the original nonconvex obstacle and collision avoidance constraints.And a compatibility constraint is designed to restrict the deviation between the predicted and assumed trajectories.Moreover,recursive feasibility of each local MPC optimization problem with all these constraints derived and input-to-state stability of the closed-loop system can be ensured through a sufficient condition on controller parameters.Finally,simulations with four agents and two obstacles demonstrate the efficiency of the proposed algorithm.
