Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-d...Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.展开更多
In this paper,using the fractional Fourier law,we obtain the fractional heat conduction equation with a time-fractional derivative in the spherical coordinate system.The method of variable separation is used to solve ...In this paper,using the fractional Fourier law,we obtain the fractional heat conduction equation with a time-fractional derivative in the spherical coordinate system.The method of variable separation is used to solve the timefractional heat conduction equation.The Caputo fractional derivative of the order 0 〈 α≤ 1 is used.The solution is presented in terms of the Mittag-Leffler functions.Numerical results are illustrated graphically for various values of fractional derivative.展开更多
Under the frame of multibody dynamics, the contact dynamics of elasto-plastic spatial thin beams is numerically studied by using the spatial thin beam elements of absolute nodal coordinate formulation（ANCF）. The int...Under the frame of multibody dynamics, the contact dynamics of elasto-plastic spatial thin beams is numerically studied by using the spatial thin beam elements of absolute nodal coordinate formulation（ANCF）. The internal force of the elasto-plastic spatial thin beam element is derived under the assumption that the plastic strain of the beam element depends only on its longitudinal deformation.A new body-fixed local coordinate system is introduced into the spatial thin beam element of ANCF for efficient contact detection in the contact dynamics simulation. The linear isotropic hardening constitutive law is used to describe the elasto-plastic deformation of beam material, and the classical return mapping algorithm is adopted to evaluate the plastic strains. A multi-zone contact approach of thin beams previously proposed by the authors is also introduced to detect the multiple contact zones of beams accurately, and the penalty method is used to compute the normal contact force of thin beams in contact. Four numerical examples are given to demonstrate the applicability and effectiveness of the proposed elasto-plastic spatial thin beam element of ANCF for flexible multibody system dynamics.展开更多
We give a brief discussion of some of the contributions of Peter Lax to Com- putational Fluid Dynamics. These include the Lax-Friedrichs and Lax-Wendroff numerical schemes. We also mention his collaboration in the 198...We give a brief discussion of some of the contributions of Peter Lax to Com- putational Fluid Dynamics. These include the Lax-Friedrichs and Lax-Wendroff numerical schemes. We also mention his collaboration in the 1983 HLL Riemann solver. We de- velop two-dimensional Lax-Friedrichs and Lax-Wendroff schemes for the Lagrangian form of the Euler equations on triangular grids. We apply a composite scheme that uses a Lax- Friedrichs time step as a dissipative filter after several Lax-Wendroff time steps. Numerical results for Noh＇s infinite strength shock problem, the Sedov blast wave problem, and the Saltzman piston problem are presented.展开更多
文摘Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.
基金supported by the National Natural Science Foundation of China(11072134 and 11102102)
文摘In this paper,using the fractional Fourier law,we obtain the fractional heat conduction equation with a time-fractional derivative in the spherical coordinate system.The method of variable separation is used to solve the timefractional heat conduction equation.The Caputo fractional derivative of the order 0 〈 α≤ 1 is used.The solution is presented in terms of the Mittag-Leffler functions.Numerical results are illustrated graphically for various values of fractional derivative.
基金supported in part by the National Natural Science Foundation of China (Grants 11290151 and 11221202)supported in part by the Beijing Higher Education Young Elite Teacher Project (Grant YETP1201)
文摘Under the frame of multibody dynamics, the contact dynamics of elasto-plastic spatial thin beams is numerically studied by using the spatial thin beam elements of absolute nodal coordinate formulation（ANCF）. The internal force of the elasto-plastic spatial thin beam element is derived under the assumption that the plastic strain of the beam element depends only on its longitudinal deformation.A new body-fixed local coordinate system is introduced into the spatial thin beam element of ANCF for efficient contact detection in the contact dynamics simulation. The linear isotropic hardening constitutive law is used to describe the elasto-plastic deformation of beam material, and the classical return mapping algorithm is adopted to evaluate the plastic strains. A multi-zone contact approach of thin beams previously proposed by the authors is also introduced to detect the multiple contact zones of beams accurately, and the penalty method is used to compute the normal contact force of thin beams in contact. Four numerical examples are given to demonstrate the applicability and effectiveness of the proposed elasto-plastic spatial thin beam element of ANCF for flexible multibody system dynamics.
基金performed under the auspices of the National Nuclear Security Administration of the US Department of Energy at Los Alamos National Laboratory under Contract No.DE-AC52-06NA25396supported in part by the Czech Science Foundation GrantP205/10/0814the Czech Ministry of Education grants MSM 6840770022 and LC528
文摘We give a brief discussion of some of the contributions of Peter Lax to Com- putational Fluid Dynamics. These include the Lax-Friedrichs and Lax-Wendroff numerical schemes. We also mention his collaboration in the 1983 HLL Riemann solver. We de- velop two-dimensional Lax-Friedrichs and Lax-Wendroff schemes for the Lagrangian form of the Euler equations on triangular grids. We apply a composite scheme that uses a Lax- Friedrichs time step as a dissipative filter after several Lax-Wendroff time steps. Numerical results for Noh＇s infinite strength shock problem, the Sedov blast wave problem, and the Saltzman piston problem are presented.
