The existence of several non-symmetric balanced incomplete block designs (BIBDs) is still unknown. This is because the non-existence property for non-symmetric BIBDs is still not known and also the existing constructi...The existence of several non-symmetric balanced incomplete block designs (BIBDs) is still unknown. This is because the non-existence property for non-symmetric BIBDs is still not known and also the existing construction methods have not been able to construct these designs despite their design parameters satisfying the necessary conditions for the existence of BIBD. The study aimed to bridge this gap by introducing a new class of non-symmetric BIBDs. The proposed class of BIBDs is constructed through the combination of disjoint symmetric BIBDs. The study was able to determine that the total number of disjoint symmetric BIBDs (n) with parameters (v = b, r = k, λ) that can be obtained from an un-reduced BIBD with parameters (v, k) is given by n = r - λ. When the n symmetric disjoint BIBDs are combined, then a new class of symmetric BIBDs is formed with parameters v<sup>*</sup><sup> </sup>= v, b<sup>*</sup><sup> </sup>= nb, r<sup>*</sup><sup> </sup>= nr, k<sup>*</sup><sup> </sup>= k, λ<sup>*</sup><sup> </sup>= λ, where 2≤ n ≤ r - λ. The study established that the non-existence property of this class of BIBD was that when is not a perfect square then v should be even and when v<sup>*</sup><sup> </sup>is odd then the equation should not have a solution in integers x, y, z which are not all simultaneously zero. In conclusion, the study showed that this construction technique can be used to construct some non-symmetric BIBDs. However, one must first construct the disjoint symmetric BIBDs before one can construct the non-symmetric BIBD. Thus, the disjoint symmetric BIBDs must exist first before the non-symmetric BIBDs exist.展开更多
In this paper, a series of chiral non-symmetrical liquid crystals (nBA-chol) consisting of a cholesteryl ester moiety as chiral entity and a biphenyl aromatic core with different terminal alkyl chain has been synthe...In this paper, a series of chiral non-symmetrical liquid crystals (nBA-chol) consisting of a cholesteryl ester moiety as chiral entity and a biphenyl aromatic core with different terminal alkyl chain has been synthesized and investigated for their liquid crystalline properties. Effects of numbers of methylene units in the terminal alkyl chain on the phase transition temperatures and on the temperature-dependent pitch lengths of the chiral liquid crystals have been studied. The long terminal alkyl chain tends to exhibit smectic A mesophases. The pitch lengths of the cholesteric mesophases of the chiral liquid crystals decrease with increasing temperature and with increasing numbers of methylene units in the terminal alkyl chain, respectively.展开更多
In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The ...In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.展开更多
Simulations have been done to assess the lift, thrust and propulsive efficiency of different types of non-symmetrical airfoils under different flapping configurations. The variables involved are reduced frequency, Str...Simulations have been done to assess the lift, thrust and propulsive efficiency of different types of non-symmetrical airfoils under different flapping configurations. The variables involved are reduced frequency, Strouhal number, pitch amplitude and phase angle. In order to analyze the variables more efficiently, the design of experiments using the response surface methodology is applied. Results show that both the variables and shape of the airfoil have a profound effect on the lift, thrust, and efficiency. By using non- symmetrical airfoils, average lift coefficient as high as 2.23 can be obtained. The average thrust coefficient and efficiency also reach high values of 2.53 and 0.61, respectively. The lift production is highly dependent on the airfoil's shape while thrust production is influenced more heavily by the variables. Efficiency falls somewhere in between. Two-factor interac- tions are found to exist among the variables. This shows that it is not sufficient to analyze each variable individually. Vorticity diagrams are analyzed to explain the results obtained. Overall, the S1020 airfoil is able to provide relatively good efficiency and at the same time generate high thrust and lift force. These results aid in the design of a better ornithopter's wing.展开更多
The existing research of the flatness control for strip cold rolling mainly focuses on the calculation of the optimum adjustment of individual flatness actuator in accordance with the flatness deviation, which can be ...The existing research of the flatness control for strip cold rolling mainly focuses on the calculation of the optimum adjustment of individual flatness actuator in accordance with the flatness deviation, which can be used for general flatness control. However, it does not work for some special rolling processes, such as the elimination of ultra single side edge-waves and the prevention of strip break due to tilting roll control overshooting. For the purpose of solving these problems, the influences of non-symmetrical work roll bending and intermediate roll bending on flatness control were analyzed by studying efficiencies of them. Moreover, impacts of two kinds of non-symmetrical roll bending control on the pressure distribution between rolls were studied theoretically. A non-symmetrical work roll bending model was developed by theoretical analysis in accordance with practical conditions. The model was applied to the revamp of a 1250 6-H reversible universal crown mill (UCM) cold mill. Theoretical study and practical applications show that the coordination utilization of the non-symmetrical work roll bending control and tilting roll control was effective in flatness control when there appeared bad strip single side edge waves, especially when the incoming strip was with a wedge shape. In addition, the risk of strip break due to tilting control overshooting could be reduced. Furthermore, the non-symmetrical roll bending control can reduce the extent of uneven distribution of pressure between rolls caused by intermediate roll shifting in flatness control and slow down roll wear. The non-symmetrical roll bending control technology has important theoretical and practical significance to better flatness control.展开更多
Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible...Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible beam model and the matching reference model, arobust adaptive control scheme is developed by involving the dead-zone inverse terms. The newadaptive control law ensures global stability of the entire system and achieves desired trackingprecision even when the slopes of the dead-zone are not equal. Simulations performed on a typicalflexible beam system illustrate and clarify the validity of this approach.展开更多
A three- and an (N+ 1)-party dense coding scheme in the case of non-symmetric Hilbert spaces of the particles of a quantum channel are investigated by using a multipartite entangled state. In the case of the (N ...A three- and an (N+ 1)-party dense coding scheme in the case of non-symmetric Hilbert spaces of the particles of a quantum channel are investigated by using a multipartite entangled state. In the case of the (N + 1)-party dense coding scheme, we show that the amount of classical information transmitted from N senders to one receiver is improved.展开更多
This article discusses the perturbation of a non-symmetric Dirichlet form, (ε, D(ε)), by a signed smooth measure u, where u=u1 -u2 with u1 and u2 being smooth measures. It gives a sufficient condition for the pe...This article discusses the perturbation of a non-symmetric Dirichlet form, (ε, D(ε)), by a signed smooth measure u, where u=u1 -u2 with u1 and u2 being smooth measures. It gives a sufficient condition for the perturbed form (ε^u ,D(ε^u)) (for some a0 ≥ 0) to be a coercive closed form.展开更多
Many mechanical parts of multi-rotor unmanned aerial vehicle(MUAV)can easily produce non-smooth phenomenon and the external disturbance that affects the stability of MUAV.For multi-MUAV attitude systems that experienc...Many mechanical parts of multi-rotor unmanned aerial vehicle(MUAV)can easily produce non-smooth phenomenon and the external disturbance that affects the stability of MUAV.For multi-MUAV attitude systems that experience output dead-zone,external disturbance and actuator fault,a leader-following consensus anti-disturbance and fault-tolerant control(FTC)scheme is proposed in this paper.In the design process,the effect of unknown nonlinearity in multi-MUAV systems is addressed using neural networks(NNs).In order to balance out the effects of external disturbance and actuator fault,a disturbance observer is designed to compensate for the aforementioned negative impacts.The Nussbaum function is used to address the problem of output dead-zone.The designed fault-tolerant controller guarantees that the output signals of all followers and leader are synchronized by the backstepping technique.Finally,the effectiveness of the control scheme is verified by simulation experiments.展开更多
Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were di...Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.展开更多
This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodele...This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality (LMI).Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.展开更多
The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adapt...The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adaptive, decentralized, variable structure control is proposed. The approach removes the conditions that the dead-zone slopes and boundaries are equal and symmetric, respectively. In addition, it does not require that the assumptions that all parameters of the nonlinear dead-zone model and the lumped uncertainty are known constants. The adaptive compensation terms of the approximation errors axe adopted to minimize the influence of modeling errors and parameter estimation errors. By theoretical analysis, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
We demonstrate that, when computing the LDU decomposition (a typical example of a direct solution method), it is possible to obtain the derivative of a determinant with respect to an eigenvalue of a non-symmetric matr...We demonstrate that, when computing the LDU decomposition (a typical example of a direct solution method), it is possible to obtain the derivative of a determinant with respect to an eigenvalue of a non-symmetric matrix. Our proposed method augments an LDU decomposition program with an additional routine to obtain a program for easily evaluating the derivative of a determinant with respect to an eigenvalue. The proposed method follows simply from the process of solving simultaneous linear equations and is particularly effective for band matrices, for which memory requirements are significantly reduced compared to those for dense matrices. We discuss the theory underlying our proposed method and present detailed algorithms for implementing it.展开更多
The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by...The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems.展开更多
In this paper, robust stability of nonlinear plants represented by non-symmetric Prandtl-Ishlinskii (PI) hysteresis model is studied. In general, PI hysteresis model is the weighted superposition of play or stop hys...In this paper, robust stability of nonlinear plants represented by non-symmetric Prandtl-Ishlinskii (PI) hysteresis model is studied. In general, PI hysteresis model is the weighted superposition of play or stop hysteresis operators, and the slopes of the operators are considered to be the same. In order to make a hysteresis model, a modified form of non-symmetric play hysteresis operator with unknown slopes is given. The hysteresis model is described by a generalized Lipschitz operator term and a bounded parasitic term. Since the generalized Lipschitz operator is unknown, a new condition using robust right coprime factorization is proposed to guarantee robust stability of the controlled plant with the hysteresis nonlinearity. As a result, based on the proposed robust condition, a stabilized plant is obtained. A numerical example is presented to validate the effectiveness of the proposed method.展开更多
We have proposed a novel noncontact ultrasonic motor based on non-syinmetrical electrode driving. The configuration of this electrode and the fabrication process of rotors are presented. Its vibration characteristics ...We have proposed a novel noncontact ultrasonic motor based on non-syinmetrical electrode driving. The configuration of this electrode and the fabrication process of rotors are presented. Its vibration characteristics are computed and analysed by using the finite element method and studied experimentally. Good agreement between them is obtained. Moreover, it is also shown that this noncontact ultrasonic motor is operated in antisymmetric radial vibration mode of B21 mode. The maximum revolution speed for three-blade and six-blade rotors are 5100 and 3700r/min at an input voltage of 20V, respectively. Also, the noncontact high-speed revolution of the rotors can be realized by the parts of Ⅰ, Ⅲ of the electrode or Ⅱ, Ⅳ of the electrode. The levitation distance between the s tator and rotor is about 140μm according to the theoretical calculation and the experimental measurement.展开更多
The behavior of two parallel non-symmetric cracks in piezoelectric materials subjected to the anti-plane shear loading was studied by the Schmidt method for the permeable crack electric boundary conditions. Through th...The behavior of two parallel non-symmetric cracks in piezoelectric materials subjected to the anti-plane shear loading was studied by the Schmidt method for the permeable crack electric boundary conditions. Through the Fourier transform, the present problem can be solved with two pairs of dual integral equations in which the unknown variables are the jumps of displacements across crack surfaces. To Solve the dual integral equations, the jumps of displacements across crack surfaces were directly expanded in a series of Jacobi polynomials. Finally, the relations between electric displacement intensity factors and stress intensity factors at crack tips can be obtained. Numerical examples are provided to show the effect of the distance between two cracks upon stress and electric displacement intensity factors at crack tips. Contrary to the impermeable crack surface condition solution, it is found that electric displacement intensity factors for the permeable crack surface conditions are much smaller than those for the impermeable crack surface conditions. At the same time, it can be found that the crack shielding effect is also present in the piezoelectric materials.展开更多
By the modified iteration method,in this paper,non=symmetrical large deflectionof a shallow spherical shell is discussed. We solve the second-order approximate analytical solution of the deflection of a shallow spheri...By the modified iteration method,in this paper,non=symmetrical large deflectionof a shallow spherical shell is discussed. We solve the second-order approximate analytical solution of the deflection of a shallow spherical shell subjected to linearliquid loads. and portray the characteristic curves of load-deflection on a perturbing point. With this paper's method, the similar questions of other kind of shell can bediscussed. Through the examples.we discuss the large defection of a plane and shallow spherical shells with different initial deflections.展开更多
This paper presents an integrated guidance and control model for a flexible hypersonic vehicle with terminal angular constraints.The integrated guidance and control model is bounded and the dead-zone input nonlinearit...This paper presents an integrated guidance and control model for a flexible hypersonic vehicle with terminal angular constraints.The integrated guidance and control model is bounded and the dead-zone input nonlinearity is considered in the system dynamics.The line of sight angle,line of sight angle rate,attack angle and pitch rate are involved in the integrated guidance and control system.The controller is designed with a backstepping method,in which a first order filter is employed to avoid the differential explosion.The full tuned radial basis function(RBF)neural network(NN)is used to approximate the system dynamics with robust item coping with the reconstruction errors,the exactitude model requirement is reduced in the controller design.In the last step of backstepping method design,the adaptive control with Nussbaum function is used for the unknown dynamics with a time-varying control gain function.The uniform ultimate boundedness stability of the control system is proved.The simulation results validate the effectiveness of the controller design.展开更多
In this paper, non-symmetrical large deformation problem of a shallow conical shell is studied by two-parameter perturbation method. The third-order approximate analytical solution of the deformation of a shallow coni...In this paper, non-symmetrical large deformation problem of a shallow conical shell is studied by two-parameter perturbation method. The third-order approximate analytical solution of the deformation of a shallow conical shell subjected to linear loads is obtained and the characteristic curves of load-deflection on a perturbing point are portrayed. The similar questions of other kind of shell and plate can be discussed by using this paper's method. As the examples, the large deflection of plate and shallow conical shells with different initial deflections is discussed.展开更多
文摘The existence of several non-symmetric balanced incomplete block designs (BIBDs) is still unknown. This is because the non-existence property for non-symmetric BIBDs is still not known and also the existing construction methods have not been able to construct these designs despite their design parameters satisfying the necessary conditions for the existence of BIBD. The study aimed to bridge this gap by introducing a new class of non-symmetric BIBDs. The proposed class of BIBDs is constructed through the combination of disjoint symmetric BIBDs. The study was able to determine that the total number of disjoint symmetric BIBDs (n) with parameters (v = b, r = k, λ) that can be obtained from an un-reduced BIBD with parameters (v, k) is given by n = r - λ. When the n symmetric disjoint BIBDs are combined, then a new class of symmetric BIBDs is formed with parameters v<sup>*</sup><sup> </sup>= v, b<sup>*</sup><sup> </sup>= nb, r<sup>*</sup><sup> </sup>= nr, k<sup>*</sup><sup> </sup>= k, λ<sup>*</sup><sup> </sup>= λ, where 2≤ n ≤ r - λ. The study established that the non-existence property of this class of BIBD was that when is not a perfect square then v should be even and when v<sup>*</sup><sup> </sup>is odd then the equation should not have a solution in integers x, y, z which are not all simultaneously zero. In conclusion, the study showed that this construction technique can be used to construct some non-symmetric BIBDs. However, one must first construct the disjoint symmetric BIBDs before one can construct the non-symmetric BIBD. Thus, the disjoint symmetric BIBDs must exist first before the non-symmetric BIBDs exist.
基金Financial support from National Natural Science foundation(No.20674005)National High Technology"863"Program of China(No.2006AA03Z108)National Science and Technology Supporting Item(No.2006BAI03A09)
文摘In this paper, a series of chiral non-symmetrical liquid crystals (nBA-chol) consisting of a cholesteryl ester moiety as chiral entity and a biphenyl aromatic core with different terminal alkyl chain has been synthesized and investigated for their liquid crystalline properties. Effects of numbers of methylene units in the terminal alkyl chain on the phase transition temperatures and on the temperature-dependent pitch lengths of the chiral liquid crystals have been studied. The long terminal alkyl chain tends to exhibit smectic A mesophases. The pitch lengths of the cholesteric mesophases of the chiral liquid crystals decrease with increasing temperature and with increasing numbers of methylene units in the terminal alkyl chain, respectively.
基金supported by National Natural Science Foundationof China (No. 60774017 and No. 60874045)
文摘In this paper, adaptive variable structure neural control is presented for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with state time-varying delays and unknown nonlinear dead-zones. The unknown time-varying delay uncer- tainties are compensated for using appropriate Lyapunov-Krasovskii functionals in the design. The approach removes the assumption of linear function outside the deadband without necessarily constructing a dead-zone inverse as an added contribution. By utilizing the integral-type Lyapunov function and introducing an adaptive compensation term for the upper bound of the residual and optimal approximation error as well as the dead-zone disturbance, the closed-loop control system is proved to be semi-globally uniformly ultimately bounded. In addition, a modified adaptive control algorithm is given in order to avoid the high-frequency chattering phenomenon. Simulation results demonstrate the effectiveness of the approach.
文摘Simulations have been done to assess the lift, thrust and propulsive efficiency of different types of non-symmetrical airfoils under different flapping configurations. The variables involved are reduced frequency, Strouhal number, pitch amplitude and phase angle. In order to analyze the variables more efficiently, the design of experiments using the response surface methodology is applied. Results show that both the variables and shape of the airfoil have a profound effect on the lift, thrust, and efficiency. By using non- symmetrical airfoils, average lift coefficient as high as 2.23 can be obtained. The average thrust coefficient and efficiency also reach high values of 2.53 and 0.61, respectively. The lift production is highly dependent on the airfoil's shape while thrust production is influenced more heavily by the variables. Efficiency falls somewhere in between. Two-factor interac- tions are found to exist among the variables. This shows that it is not sufficient to analyze each variable individually. Vorticity diagrams are analyzed to explain the results obtained. Overall, the S1020 airfoil is able to provide relatively good efficiency and at the same time generate high thrust and lift force. These results aid in the design of a better ornithopter's wing.
基金supported by National Natural Science Foundation of China (Grant No. 50534020)
文摘The existing research of the flatness control for strip cold rolling mainly focuses on the calculation of the optimum adjustment of individual flatness actuator in accordance with the flatness deviation, which can be used for general flatness control. However, it does not work for some special rolling processes, such as the elimination of ultra single side edge-waves and the prevention of strip break due to tilting roll control overshooting. For the purpose of solving these problems, the influences of non-symmetrical work roll bending and intermediate roll bending on flatness control were analyzed by studying efficiencies of them. Moreover, impacts of two kinds of non-symmetrical roll bending control on the pressure distribution between rolls were studied theoretically. A non-symmetrical work roll bending model was developed by theoretical analysis in accordance with practical conditions. The model was applied to the revamp of a 1250 6-H reversible universal crown mill (UCM) cold mill. Theoretical study and practical applications show that the coordination utilization of the non-symmetrical work roll bending control and tilting roll control was effective in flatness control when there appeared bad strip single side edge waves, especially when the incoming strip was with a wedge shape. In addition, the risk of strip break due to tilting control overshooting could be reduced. Furthermore, the non-symmetrical roll bending control can reduce the extent of uneven distribution of pressure between rolls caused by intermediate roll shifting in flatness control and slow down roll wear. The non-symmetrical roll bending control technology has important theoretical and practical significance to better flatness control.
基金This project is supported by National Natural Science Foundation of China (No. 59885002).
文摘Adaptive control of a flexible beam system preceded by an unknown dead-zonein the driving motor is investigated in state space form. By introducing an important lemma forsimplifying error equation between the flexible beam model and the matching reference model, arobust adaptive control scheme is developed by involving the dead-zone inverse terms. The newadaptive control law ensures global stability of the entire system and achieves desired trackingprecision even when the slopes of the dead-zone are not equal. Simulations performed on a typicalflexible beam system illustrate and clarify the validity of this approach.
文摘A three- and an (N+ 1)-party dense coding scheme in the case of non-symmetric Hilbert spaces of the particles of a quantum channel are investigated by using a multipartite entangled state. In the case of the (N + 1)-party dense coding scheme, we show that the amount of classical information transmitted from N senders to one receiver is improved.
基金This research is supported by the NSFC andNSF of Hainan Province (Nos. 80529 and 10001)
文摘This article discusses the perturbation of a non-symmetric Dirichlet form, (ε, D(ε)), by a signed smooth measure u, where u=u1 -u2 with u1 and u2 being smooth measures. It gives a sufficient condition for the perturbed form (ε^u ,D(ε^u)) (for some a0 ≥ 0) to be a coercive closed form.
基金supported by the National Natural Science Foundation of China(62033003,62003098)the Local Innovative and Research Teams Project of Guangdong Special Support Program(2019BT02X353)the China Postdoctoral Science Foundation(2019M662813,2020T130124,2020M682614).
文摘Many mechanical parts of multi-rotor unmanned aerial vehicle(MUAV)can easily produce non-smooth phenomenon and the external disturbance that affects the stability of MUAV.For multi-MUAV attitude systems that experience output dead-zone,external disturbance and actuator fault,a leader-following consensus anti-disturbance and fault-tolerant control(FTC)scheme is proposed in this paper.In the design process,the effect of unknown nonlinearity in multi-MUAV systems is addressed using neural networks(NNs).In order to balance out the effects of external disturbance and actuator fault,a disturbance observer is designed to compensate for the aforementioned negative impacts.The Nussbaum function is used to address the problem of output dead-zone.The designed fault-tolerant controller guarantees that the output signals of all followers and leader are synchronized by the backstepping technique.Finally,the effectiveness of the control scheme is verified by simulation experiments.
基金Supported by the National Natural Science Foundation of China(11372073,11072061)Industrial Robot Basic Component Technology Research and Development Platform,Fujian,China(2014H21010011)。
文摘Under the conditions of joint torque output dead-zone and external disturbance,the trajectory tracking and vibration suppression for a free-floating space robot(FFSR)system with elastic base and flexible links were discussed.First,using the Lagrange equation of the second kind,the dynamic model of the system was derived.Second,utilizing singular perturbation theory,a slow subsystem describing the rigid motion and a fast subsystem corresponding to flexible vibration were obtained.For the slow subsystem,when the width of deadzone is uncertain,a dead-zone pre-compensator was designed to eliminate the impact of joint torque output dead-zone,and an integral sliding mode neural network control was proposed.The integral sliding mode term can reduce the steady state error.For the fast subsystem,an optimal linear quadratic regulator(LQR)controller was adopted to damp out the vibration of the flexible links and elastic base simultaneously.Finally,computer simulations show the effectiveness of the compound control method.
基金supported by National Natural Science Foundation of China (No. 60704009)
文摘This paper presents an up-to-date study on the observer-based control problem for nonlinear systems in the presence of unmodeled dynamics and actuator dead-zone.By introducing a dynamic signal to dominate the unmodeled dynamics and using an adaptive nonlinear damping to counter the effects of the nonlinearities and dead-zone input,the proposed observer and controller can ensure that the closed-loop system is asymptotically stable in the sense of uniform ultimate boundedness.Only one adaptive parameter is needed no matter how many unknown parameters there are.The system investigated is more general and there is no need to solve Linear matrix inequality (LMI).Moreover,with our method,some assumptions imposed on nonlinear terms and dead-zone input are relaxed.Finally,simulations illustrate the effectiveness of the proposed adaptive control scheme.
基金This project was supported by the National Natural Science Foundation of China (60074013)the Foundation of New Era Talent Engineering of Yangzhou University.
文摘The problem of adaptive fuzzy control for a class of large-scale, time-delayed systems with unknown nonlinear dead-zone is discussed here. Based on the principle of variable structure control, a design scheme of adaptive, decentralized, variable structure control is proposed. The approach removes the conditions that the dead-zone slopes and boundaries are equal and symmetric, respectively. In addition, it does not require that the assumptions that all parameters of the nonlinear dead-zone model and the lumped uncertainty are known constants. The adaptive compensation terms of the approximation errors axe adopted to minimize the influence of modeling errors and parameter estimation errors. By theoretical analysis, the closed-loop control system is proved to be semiglobally uniformly ultimately bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.
文摘We demonstrate that, when computing the LDU decomposition (a typical example of a direct solution method), it is possible to obtain the derivative of a determinant with respect to an eigenvalue of a non-symmetric matrix. Our proposed method augments an LDU decomposition program with an additional routine to obtain a program for easily evaluating the derivative of a determinant with respect to an eigenvalue. The proposed method follows simply from the process of solving simultaneous linear equations and is particularly effective for band matrices, for which memory requirements are significantly reduced compared to those for dense matrices. We discuss the theory underlying our proposed method and present detailed algorithms for implementing it.
基金supported by the National Natural Science Foundation of China(61863034)
文摘The identification of nonlinear systems with multiple sampled rates is a difficult task.The motivation of our paper is to study the parameter estimation problem of Hammerstein systems with dead-zone characteristics by using the dual-rate sampled data.Firstly,the auxiliary model identification principle is used to estimate the unmeasurable variables,and the recursive estimation algorithm is proposed to identify the parameters of the static nonlinear model with the dead-zone function and the parameters of the dynamic linear system model.Then,the convergence of the proposed identification algorithm is analyzed by using the martingale convergence theorem.It is proved theoretically that the estimated parameters can converge to the real values under the condition of continuous excitation.Finally,the validity of the proposed algorithm is proved by the identification of the dual-rate sampled nonlinear systems.
文摘In this paper, robust stability of nonlinear plants represented by non-symmetric Prandtl-Ishlinskii (PI) hysteresis model is studied. In general, PI hysteresis model is the weighted superposition of play or stop hysteresis operators, and the slopes of the operators are considered to be the same. In order to make a hysteresis model, a modified form of non-symmetric play hysteresis operator with unknown slopes is given. The hysteresis model is described by a generalized Lipschitz operator term and a bounded parasitic term. Since the generalized Lipschitz operator is unknown, a new condition using robust right coprime factorization is proposed to guarantee robust stability of the controlled plant with the hysteresis nonlinearity. As a result, based on the proposed robust condition, a stabilized plant is obtained. A numerical example is presented to validate the effectiveness of the proposed method.
基金Project supported by the National Natural Science Foundation of China (Grant No 50205017).
文摘We have proposed a novel noncontact ultrasonic motor based on non-syinmetrical electrode driving. The configuration of this electrode and the fabrication process of rotors are presented. Its vibration characteristics are computed and analysed by using the finite element method and studied experimentally. Good agreement between them is obtained. Moreover, it is also shown that this noncontact ultrasonic motor is operated in antisymmetric radial vibration mode of B21 mode. The maximum revolution speed for three-blade and six-blade rotors are 5100 and 3700r/min at an input voltage of 20V, respectively. Also, the noncontact high-speed revolution of the rotors can be realized by the parts of Ⅰ, Ⅲ of the electrode or Ⅱ, Ⅳ of the electrode. The levitation distance between the s tator and rotor is about 140μm according to the theoretical calculation and the experimental measurement.
基金Project supported by the National Natural Science Foundation of China (Nos.10572043 and 10572155)the Natural Science Foundation for Excellent Young Investigators of Heilongjiang Province(No.JC04-08)
文摘The behavior of two parallel non-symmetric cracks in piezoelectric materials subjected to the anti-plane shear loading was studied by the Schmidt method for the permeable crack electric boundary conditions. Through the Fourier transform, the present problem can be solved with two pairs of dual integral equations in which the unknown variables are the jumps of displacements across crack surfaces. To Solve the dual integral equations, the jumps of displacements across crack surfaces were directly expanded in a series of Jacobi polynomials. Finally, the relations between electric displacement intensity factors and stress intensity factors at crack tips can be obtained. Numerical examples are provided to show the effect of the distance between two cracks upon stress and electric displacement intensity factors at crack tips. Contrary to the impermeable crack surface condition solution, it is found that electric displacement intensity factors for the permeable crack surface conditions are much smaller than those for the impermeable crack surface conditions. At the same time, it can be found that the crack shielding effect is also present in the piezoelectric materials.
文摘By the modified iteration method,in this paper,non=symmetrical large deflectionof a shallow spherical shell is discussed. We solve the second-order approximate analytical solution of the deflection of a shallow spherical shell subjected to linearliquid loads. and portray the characteristic curves of load-deflection on a perturbing point. With this paper's method, the similar questions of other kind of shell can bediscussed. Through the examples.we discuss the large defection of a plane and shallow spherical shells with different initial deflections.
文摘This paper presents an integrated guidance and control model for a flexible hypersonic vehicle with terminal angular constraints.The integrated guidance and control model is bounded and the dead-zone input nonlinearity is considered in the system dynamics.The line of sight angle,line of sight angle rate,attack angle and pitch rate are involved in the integrated guidance and control system.The controller is designed with a backstepping method,in which a first order filter is employed to avoid the differential explosion.The full tuned radial basis function(RBF)neural network(NN)is used to approximate the system dynamics with robust item coping with the reconstruction errors,the exactitude model requirement is reduced in the controller design.In the last step of backstepping method design,the adaptive control with Nussbaum function is used for the unknown dynamics with a time-varying control gain function.The uniform ultimate boundedness stability of the control system is proved.The simulation results validate the effectiveness of the controller design.
文摘In this paper, non-symmetrical large deformation problem of a shallow conical shell is studied by two-parameter perturbation method. The third-order approximate analytical solution of the deformation of a shallow conical shell subjected to linear loads is obtained and the characteristic curves of load-deflection on a perturbing point are portrayed. The similar questions of other kind of shell and plate can be discussed by using this paper's method. As the examples, the large deflection of plate and shallow conical shells with different initial deflections is discussed.