This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined r...This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.展开更多
In this paper, the mixture of dimethyl carbonate, ethyl methyl carbonate and diethyl carbonate was separated by middle-vessel batch distillation with feeding in middle-vessel and process control characteristics were r...In this paper, the mixture of dimethyl carbonate, ethyl methyl carbonate and diethyl carbonate was separated by middle-vessel batch distillation with feeding in middle-vessel and process control characteristics were researched. The steady state simulation results in Aspen Plus were exported to Aspen Dynamics. Then control effect of liquid level control with HighSelector, composition control(structure1, structure2) and temperature control(proportional action, proportional integration action) were proposed. Composition control structure 2 and temperature control with PI action were investigated to achieve a good control effect.展开更多
基金supported by the National Natural Science Foundation of China (Grant Nos. 60674037,61074017 and 61074004)the Program for New Century Excellent Talents in Universities (Grant No. NCET-09-0674)the Program for Liaoning Excellent Talents in Universities (Grant No. 2009R06)
文摘This paper is concerned with the formation control problem of multiple underactuated surface vessels moving in a leader-follower formation. The formation is achieved by the follower to track a virtual target defined relative to the leader. A robust adaptive target tracking law is proposed by using neural network and backstepping techniques. The advantage of the proposed control scheme is that the uncertain nonlinear dynamics caused by Coriolis/centripetal forces, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on line learning. Based on Lyapunov analysis, the proposed controller guarantees the tracking errors converge to a small neighborhood of the origin. Simulation results demonstrate the effectiveness of the control strategy.
基金Supported by the National Natural Science Foundation of China(21676299,21476261,21506255)
文摘In this paper, the mixture of dimethyl carbonate, ethyl methyl carbonate and diethyl carbonate was separated by middle-vessel batch distillation with feeding in middle-vessel and process control characteristics were researched. The steady state simulation results in Aspen Plus were exported to Aspen Dynamics. Then control effect of liquid level control with HighSelector, composition control(structure1, structure2) and temperature control(proportional action, proportional integration action) were proposed. Composition control structure 2 and temperature control with PI action were investigated to achieve a good control effect.
基金Supported by the National Natural Science Foundation of China （Grant No. 61074053）the Applied Basic Research Program of Ministry of Transport of China （Grant No. 2011-329-225-390）
