In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly desi...In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.展开更多
This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state s...This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.展开更多
The motion of intervariant intedeces under the action of applied stress in the internally faulted 18R martensite in a Cu-Zn-Al shape memory alloy has been studied. Transmission electron microscopy in situ observations...The motion of intervariant intedeces under the action of applied stress in the internally faulted 18R martensite in a Cu-Zn-Al shape memory alloy has been studied. Transmission electron microscopy in situ observations show that the interfaces between 24 martensite variants have different reaction to applied stress. The A/C type and A/B type interfaces have good mobil-ity, the A/D type interface has bad mobiIity, and the different-group-intervariant interfaces are basically immobile.展开更多
Current climate forecasting has advanced to the stage of investigating mesoscale air-sea interactions. Recent studies have identified significant structural differences between the cores and edges of mesoscale eddies;...Current climate forecasting has advanced to the stage of investigating mesoscale air-sea interactions. Recent studies have identified significant structural differences between the cores and edges of mesoscale eddies;however, the effects of these structural variations on air-sea fluxes and the Marine Atmospheric Boundary Layer(MABL) remain underexplored. Traditional observations often fail to capture the detailed structures of eddies, necessitating enhanced observations at high spatiotemporal resolution for mesoscale eddies. To address this, efforts have been made to develop multi-agent platforms and expendable air-sea interface observation technologies. A task-oriented observation scheme was developed to monitor the spatial characteristics of mesoscale eddies. The South China Sea(SCS) is rich in mesoscale eddies with rapid motion changes, requiring enhanced observations of the air-sea interface using multi-agent mobile networking. An anticyclonic eddy was observed in the eastern region of the Xisha Islands in the SCS, and we examined variations in air-sea fluxes across different regions within the eddy.展开更多
The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and...The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and a network management system. During the Wenchuan Earthquake, over 1,400 components of acceleration records were obtained from 460 permanent free-field stations and three arrays for topographical effect and structural response observation in the network system from the main shock, and over 20,000 components of acceleration records from strong aftershocks occurred before August 1, 2008 were also obtained by permanent free-field stations of the NSMONS and 59 mobile instruments quickly deployed after the main shock. The strong motion recordings from the main shock and strong aftershocks are summarized in this paper. In the ground motion recordings, there are over 560 components with peak ground acceleration （PGA） over 10 Gal, the largest being 957.7 Gal. The largest PGA recorded during the aftershock exceeds 300 Gal.展开更多
Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control sy...Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.展开更多
In this paper, the mobile strong ground motion observation for the destructive earthquake is introduced. Considering the characteristics and its spatial distributions of aftershock, 59 strong ground motion instruments...In this paper, the mobile strong ground motion observation for the destructive earthquake is introduced. Considering the characteristics and its spatial distributions of aftershock, 59 strong ground motion instruments were installed along the Longrnenshan fault area, and more than 2 000 records have been accumulated. It shows that it is necessary to perform the mobile strong ground motion observation after the destructive earthquake, and the precious collected data could be applied for further research.展开更多
As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments,the wheel slip becomes a problem when the robot is either accelerating,decelerating,or turning...As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments,the wheel slip becomes a problem when the robot is either accelerating,decelerating,or turning at high speed.Ignoring the effect of wheel slip may cause the mobile robot to deviate from the desired path.In this paper a recently proposed method is implemented to estimate the surface conditions encountered by an unmanned wheeled mobile robot,without using extra sensors.The method is simple,economical and needs less processing power than for other methods.A reaction torque observer is used to obtain the rolling resistance torque and it is applied to a wheeled mobile robot to obtain the surface condition in real-time for each wheel.The slip information is observed by comparing the reaction torque of each wheel.The obtained slip information is then used to control the torque of both wheels using a torque controller.Wheel slip is minimized by controlling the torque of each wheel.Minimizing the slip improves the ability of the unmanned electric wheeled mobile robot to navigate in the desired path in an unknown environment,regardless of the nature of the surface.展开更多
针对存在多种不同类型干扰的非完整轮式移动机器人,提出了一种复合分层抗干扰跟踪控制策略。通过引入直流电机模型,分别设计了非线性干扰观测器(nonlinear disturbance observer,NDO)和扩张状态观测器(extended state observer,ESO)来...针对存在多种不同类型干扰的非完整轮式移动机器人,提出了一种复合分层抗干扰跟踪控制策略。通过引入直流电机模型,分别设计了非线性干扰观测器(nonlinear disturbance observer,NDO)和扩张状态观测器(extended state observer,ESO)来估计摩擦、空气阻力以及负载变化引起的参数不确定等不同类型扰动。随后,基于观测器估计值设计反馈控制器来跟踪期望速度。在整体控制方案中,运动学控制器位于外环,为轮式移动机器人的内环控制器提供所需的期望速度指令。最后,仿真验证了所提方法的有效性。展开更多
基金supported by the National Natural Science Foundation of China(61573184)the Specialized Research Fund for the Doctoral Program of Higher Education(20133218110013)+1 种基金the Six Talents Peak Project of Jainism Province(2012-XRAY-010)the Fundamental Research Funds for theCentral Universities(NE2016101)
文摘In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.
基金supported by the National Natural Science Foundation of China(61872204)the Natural Science Foundation of Heilongjiang Province of China(F2015025)。
文摘This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.
文摘The motion of intervariant intedeces under the action of applied stress in the internally faulted 18R martensite in a Cu-Zn-Al shape memory alloy has been studied. Transmission electron microscopy in situ observations show that the interfaces between 24 martensite variants have different reaction to applied stress. The A/C type and A/B type interfaces have good mobil-ity, the A/D type interface has bad mobiIity, and the different-group-intervariant interfaces are basically immobile.
基金supported by the National Key R&D Program of China (Grant No.2018YFC1405700)the National Natural Science Foundation of China (Grant No.42227901)。
文摘Current climate forecasting has advanced to the stage of investigating mesoscale air-sea interactions. Recent studies have identified significant structural differences between the cores and edges of mesoscale eddies;however, the effects of these structural variations on air-sea fluxes and the Marine Atmospheric Boundary Layer(MABL) remain underexplored. Traditional observations often fail to capture the detailed structures of eddies, necessitating enhanced observations at high spatiotemporal resolution for mesoscale eddies. To address this, efforts have been made to develop multi-agent platforms and expendable air-sea interface observation technologies. A task-oriented observation scheme was developed to monitor the spatial characteristics of mesoscale eddies. The South China Sea(SCS) is rich in mesoscale eddies with rapid motion changes, requiring enhanced observations of the air-sea interface using multi-agent mobile networking. An anticyclonic eddy was observed in the eastern region of the Xisha Islands in the SCS, and we examined variations in air-sea fluxes across different regions within the eddy.
基金NSFC Under Grant No. 90715038MOST of China Under Grant No. 2006BAC13B02
文摘The National Strong Motion Observation Network System （NSMONS） of China is briefly introduced in this paper. The NSMONS consists of permanent free-field stations, special observation arrays, mobile observatories and a network management system. During the Wenchuan Earthquake, over 1,400 components of acceleration records were obtained from 460 permanent free-field stations and three arrays for topographical effect and structural response observation in the network system from the main shock, and over 20,000 components of acceleration records from strong aftershocks occurred before August 1, 2008 were also obtained by permanent free-field stations of the NSMONS and 59 mobile instruments quickly deployed after the main shock. The strong motion recordings from the main shock and strong aftershocks are summarized in this paper. In the ground motion recordings, there are over 560 components with peak ground acceleration （PGA） over 10 Gal, the largest being 957.7 Gal. The largest PGA recorded during the aftershock exceeds 300 Gal.
基金supported by National Natural Science Foundation of China (Grant No. 61075081)State Key Laboratory of Robotics Technique and System Foundation,Harbin Institute of Technology,China(Grant No. SKIRS200802A02)
文摘Target tracking control for wheeled mobile robot （WMR） need resolve the problems of kinematics model and tracking algorithm.High-order sliding mode control is a valid method used in the nonlinear tracking control system,which can eliminate the chattering of sliding mode control.Currently there lacks the research of robustness and uncertain factors for high-order sliding mode control.To address the fast convergence and robustness problems of tracking target,the tracking mathematical model of WMR and the target is derived.Based on the finite-time convergence theory and second order sliding mode method,a nonlinear tracking algorithm is designed which guarantees that WMR can catch the target in finite time.At the same time an observer is applied to substitute the uncertain acceleration of the target,then a smooth nonlinear tracking algorithm is proposed.Based on Lyapunov stability theory and finite-time convergence,a finite time convergent smooth second order sliding mode controller and a target tracking algorithm are designed by using second order sliding mode method.The simulation results verified that WMR can catch up the target quickly and reduce the control discontinuity of the velocity of WMR.
基金supported by MOST of China under Grant No. 2006BAC13B02CEA under Grant No. 200808026 IEM/CEA under Grant No. 0618001
文摘In this paper, the mobile strong ground motion observation for the destructive earthquake is introduced. Considering the characteristics and its spatial distributions of aftershock, 59 strong ground motion instruments were installed along the Longrnenshan fault area, and more than 2 000 records have been accumulated. It shows that it is necessary to perform the mobile strong ground motion observation after the destructive earthquake, and the precious collected data could be applied for further research.
文摘As unmanned electric wheeled mobile robots have been increasingly applied to high-speed operations in unknown environments,the wheel slip becomes a problem when the robot is either accelerating,decelerating,or turning at high speed.Ignoring the effect of wheel slip may cause the mobile robot to deviate from the desired path.In this paper a recently proposed method is implemented to estimate the surface conditions encountered by an unmanned wheeled mobile robot,without using extra sensors.The method is simple,economical and needs less processing power than for other methods.A reaction torque observer is used to obtain the rolling resistance torque and it is applied to a wheeled mobile robot to obtain the surface condition in real-time for each wheel.The slip information is observed by comparing the reaction torque of each wheel.The obtained slip information is then used to control the torque of both wheels using a torque controller.Wheel slip is minimized by controlling the torque of each wheel.Minimizing the slip improves the ability of the unmanned electric wheeled mobile robot to navigate in the desired path in an unknown environment,regardless of the nature of the surface.
文摘针对存在多种不同类型干扰的非完整轮式移动机器人,提出了一种复合分层抗干扰跟踪控制策略。通过引入直流电机模型,分别设计了非线性干扰观测器(nonlinear disturbance observer,NDO)和扩张状态观测器(extended state observer,ESO)来估计摩擦、空气阻力以及负载变化引起的参数不确定等不同类型扰动。随后,基于观测器估计值设计反馈控制器来跟踪期望速度。在整体控制方案中,运动学控制器位于外环,为轮式移动机器人的内环控制器提供所需的期望速度指令。最后,仿真验证了所提方法的有效性。
