A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the e...A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.展开更多
The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode pat...The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.展开更多
Advanced stage hepatocellular carcinoma(HCC) is a category of disease defined by radiological, clinical and hepatic function parameters, comprehending a wide range of patients with different general conditions. The ma...Advanced stage hepatocellular carcinoma(HCC) is a category of disease defined by radiological, clinical and hepatic function parameters, comprehending a wide range of patients with different general conditions. The main therapeutic option is represented by sorafenibtreatment, a multi-kinase inhibitor with anti-proliferative and anti-angiogenic effect. Trans-arterial Radio Embolization also represents a promising new approach to intermediate/advanced HCC. Post-marketing clinical studies showed that only a portion of patients actually benefits from sorafenib treatment, and an even smaller percentage of patients treated shows partial/complete response on follow-up examinations, up against relevant costs and an incidence of drug related adverse effects. Although the treatment with sorafenib has shown a significant increase in mean overall survival in different studies, only a part of patients actually shows real benefits, while the incidence of drug related significant adverse effects and the economic costs are relatively high. Moreover, only a small percentage of patients also shows a response in terms of lesion dimensions reduction. Being able to properly differentiate patients who are responding to the therapy from non-responders as early as possible is then still difficult and could be a pivotal challenge for the future; in fact it could spare several patients a therapy often difficult to bear, directing them to other second line treatments(many of which are at the moment still under investigation). For this reason, some supplemental criteria to be added to the standard modified Response Evaluation Criteria in Solid Tumors evaluation are being searched for. In particular, finding some parameters(cellular density, perfusion grade and enhancement rate) able to predict the sensitivity of the lesions to anti-angiogenic agents could help in stratifying patients in terms of treatment responsiveness before the beginning of the therapy itself, or in the first weeks of sorafenib treatment. This would bring a strongly desirable help in clinical managements of these patients.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos. 61301279, 51479158 and the Fundamental Research Funds for the Central Universities under Grant No. WUT: 163102006
文摘A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.
基金supported by the National Social Science Foundation of China(15GJ003-278)the National Natural Science Foundation of China(71501182)
文摘The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.
基金Supported by Protocollo TESORM by Regione Toscana,Universitàdegli Studi di Firenze and Bayer Health Care s.p.a
文摘Advanced stage hepatocellular carcinoma(HCC) is a category of disease defined by radiological, clinical and hepatic function parameters, comprehending a wide range of patients with different general conditions. The main therapeutic option is represented by sorafenibtreatment, a multi-kinase inhibitor with anti-proliferative and anti-angiogenic effect. Trans-arterial Radio Embolization also represents a promising new approach to intermediate/advanced HCC. Post-marketing clinical studies showed that only a portion of patients actually benefits from sorafenib treatment, and an even smaller percentage of patients treated shows partial/complete response on follow-up examinations, up against relevant costs and an incidence of drug related adverse effects. Although the treatment with sorafenib has shown a significant increase in mean overall survival in different studies, only a part of patients actually shows real benefits, while the incidence of drug related significant adverse effects and the economic costs are relatively high. Moreover, only a small percentage of patients also shows a response in terms of lesion dimensions reduction. Being able to properly differentiate patients who are responding to the therapy from non-responders as early as possible is then still difficult and could be a pivotal challenge for the future; in fact it could spare several patients a therapy often difficult to bear, directing them to other second line treatments(many of which are at the moment still under investigation). For this reason, some supplemental criteria to be added to the standard modified Response Evaluation Criteria in Solid Tumors evaluation are being searched for. In particular, finding some parameters(cellular density, perfusion grade and enhancement rate) able to predict the sensitivity of the lesions to anti-angiogenic agents could help in stratifying patients in terms of treatment responsiveness before the beginning of the therapy itself, or in the first weeks of sorafenib treatment. This would bring a strongly desirable help in clinical managements of these patients.
