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Adaptive neural network control of a 2-DOF helicopter system considering input constraints and global prescribed performance

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Science China(Information Sciences) 2024年第7期67卷 224-239页

作者： Zhijia ZHAO Jiale WU Zhijie LIU we HE C.L.Philip CHEN School of Mechanical and Electrical Engineering Guangzhou University School of Intelligence Science and Technology and Key Laboratory of Intelligent Bionic Unmanned Systems of Ministry of Education University of Science and Technology Beijing School of Computer Science and Engineering South China University of Technology Pazhou Lab

In this study, an adaptive neural network(NN) control is proposed for nonlinear two-degree-offreedom(2-DOF) helicopter systems considering the input constraints and global prescribed ***, radial basis function NN(RBFNN) is employed to estimate the unknown dynamics of the helicopter system. Second, a smooth nonaffine function is exploited to approximate and address nonlinear constraint functions. Subsequently, a new prescribed function is proposed, and an original constrained error is transformed into an equivalent unconstrained error using the error transformation and barrier function transformation methods. The analysis of the established Lyapunov function proves that the controlled system is globally uniformly bounded. Finally, the simulation and experimental results on a constructed Quanser's test platform verify the rationality and feasibility of the proposed control.

关键词： adaptive NN control 2-DOF helicopter global prescribed performance input constraints

Study on 6-DOF active vibration-isolation system of the ultra-precision turning lathe based on GA-BP-PID control for dynamic loads

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Advances in Manufacturing 2024年第1期12卷 33-60页

作者： Bo Wang Zhong Jiang Pei-da Hu Department of Precision Instrument Tsinghua UniversityBeijing100084People’s Republic of China Institute of Machinery Manufacturing Technology China Academy of Engineering PhysicsMianyang621900SichuanPeople’s Republic of China

The vibration disturbance from an external environment affects the machining accuracy of ultra-precision machining *** active vibration-isolation systems(AVIS)have been developed based on static *** a vibration-isolation load changes dynamically during ultra-precision turning lathe machining,the system parameters change,and the efficiency of the active vibration-isolation system based on the traditional control strategy *** solve this problem,this paper proposes a vibration-isolation control strategy based on a genetic algorithm-back propagation neural network-PID control(GA-BP-PID),which can automatically adjust the control parameters according to the machining ***-isolation simulations and experiments based on passive vibration isolation,a PID algorithm,and the GA-BP-PID algorithm under dynamic load machining conditions were *** experimental results demonstrated that the active vibration-isolation control strategy designed in this study could effectively attenuate vibration disturbances in the external environment under dynamic load *** design is reasonable and feasible.

关键词： Ultra-precision diamond turning lathe Active vibration isolation Six degrees of freedom Dynamic load Genetic algorithm-back propagation neural network-PID(GA-BP-PID)control

Small-scale self-driving cars:A systematic literature review

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Journal of Traffic and Transportation Engineering(English Edition) 2024年第2期11卷 271-292页

作者： Felipe Caleffi Lauren da Silva Rodrigues Joice da Silva Stamboroski Brenda Medeiros Pereira Autonomous Vehicles Laboratory Federal University of Santa MariaCachoeira do Sul 96503-205Brazil Mobility and Logistics Laboratory Federal University of Santa MariaCachoeira do Sul 96503-205Brazil

The autonomous vehicle(AV)technology has the potential to significantly improve safety and efficiency of the transportation and logistics ***-scale AV testing is limited by time,space,and cost,while simulation-based testing often lacks the necessary accuracy of AV and environmental *** recent years,several initiatives have emerged to test autonomous software and hardware on scaled *** systematic literature review provides an overview of the literature surrounding small-scale self-driving cars,summarizing the current autonomous platforms deployed and focusing on the software and hardware developments in this *** studies published in English-language journals or conference papers that present small-scale testing of self-driving cars were *** of Science,Scopus,Springer Link,Wiley,ACM Digital Library,and TRID databases were used for the literature *** systematic literature search found 38 eligible *** gaps in the reviewed papers were identified to provide guidance for future *** key takeaway emerging from this manuscript are:(i)there is a need to improve the models and neural network architectures used in autonomous driving systems,as most papers present only preliminary results;(ii)increasing datasets and sharing databases can help in developing more reliable control policies and reducing bias and variance in the training process;(iii)small-scaled vehicles to ensure safety is a major benefit,and incorporating data about unsafe driving behaviors and infrastructure problems can improve the accuracy of predictive models.

关键词： Self-driving car Autonomous vehicle Small-scale vehicle Systematic literature review

On the global smooth solutions of 3D incompressible Hall-MHD equations

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Applied Mathematics(A Journal of Chinese Universities) 2024年第2期39卷 319-327页

作者： YUE Gao-cheng SUN wen-da School of Mathematics Nanjing University of Aeronautics and AstronauticsNanjing 211106China

The present paper is devoted to the well-posedness issue for the 3D incompressible Hall-MHD system obtained from kinetic models. Our analysis strongly relies on the use of the Fourier analysis. we establish the global existence of smooth solutions for a class of large initial data, this result implies the initial velocity and magnetic field can be arbitrarily large.

关键词： 3D Hall-MHD well-posedness Fourier analysis

On entire solutions of some Fermat type differential-difference equations

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Applied Mathematics(A Journal of Chinese Universities) 2024年第1期39卷 69-88页

作者： LONG Jian-ren QIN da-zhuan School of Mathematical Sciences Guizhou Normal UniversityGuiyang 550025China

On one hand,we study the existence of transcendental entire solutions with finite order of the Fermat type difference *** the other hand,we also investigate the existence and growth of solutions of nonlinear different... 详细信息

关键词： entire solutions differential-difference equations existence finite order

Quantized bound states around a vortex in anisotropic superconductors

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Science China(Physics,Mechanics & Astronomy) 2024年第6期67卷 146-155页

作者： Ke Xiang da Wang Qiang-Hua Wang National Laboratory of Solid State Microstructures&School of Physics Nanjing UniversityNanjing 210093China Collaborative Innovation Center of Advanced Microstructures Nanjing 210093China

The bound states around a vortex in anisotropic superconductors is a longstanding yet important *** this work,we develop a variational theory on the basis of the Andreev approximation to obtain the energy levels and wave functions of the low-energy quantized bound states in superconductors with anisotropic pairing on arbitrary Fermi *** the case of circular Fermi surface,the effective Schr¨odinger equation yielding the bound state energies gets back to the theory proposed by Volovik and Kopnin many years *** generalization here enables us to prove the equidistant energy spectrum inside a vortex in a broader class of *** importantly,we are now able to obtain the wave functions of these bound states by projecting the quasiclassical wave function on the eigenmodes of the effective Schr¨odinger equation,going beyond the quasiclassical Eilenberger results,which,as we find,are sensitive to the scattering *** the case of isotropic Fermi surface,the spatial profile of the low-energy local density of states is dominated near the vortex center and elongates along the gap antinode directions,in addition to the ubiquitous Friedel oscillation arising from the quantum inteference neglected in the Eilenberger ***,as a consequence of the pairing anisotropy,the quantized wave functions develop a peculiar distribution of winding number,which reduces stepwise towards the vortex *** work provides a flexible way to study the vortex bound states in the future.

关键词： vortex bound state anisotropic superconductor Andreev approximation

Dragonfly Interaction Algorithm for Optimization of Queuing Delay in Industrial Wireless Networks

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Journal of Bionic Engineering 2024年第1期21卷 447-485页

作者： Sanjay Bhardwaj da-Hye Kim Dong-Seong Kim Department of IT Convergence Engineering ICT Convergence Research CenterKumoh National Institute of TechnologyGumiSouth Korea

In industrial wireless networks,data transmitted from source to destination are highly *** often leads to the queuing of the data,and poor management of the queued data results in excessive delays,increased energy consumption,and packet ***,a nature-inspired-based Dragonfly Interaction Optimization Algorithm(DMOA)is proposed for optimization of the queue delay in industrial wireless *** term“interaction”herein used is the characterization of the“flying movement”of the dragonfly towards damselflies(female dragonflies)for *** a result,interaction is represented as the flow of transmitted data packets,or traffic,from the source to the base *** includes each and every feature of dragonfly movement as well as awareness of the rival dragonflies,predators,and damselflies for the desired optimization of the queue *** features are juxtaposed as noise and interference,which are further used in the calculation of industrial wireless metrics:latency,error rate(reliability),throughput,energy efficiency,and fairness for the optimization of the queue *** analysis,convergence analysis,the Wilcoxon test,the Friedman test,and the classical as well as the 2014 IEEE Congress of Evolutionary Computation(CEC)on the benchmark functions are also used for the evaluation of DMOA in terms of its robustness and *** results demonstrate the robustness of the proposed algorithm for both classical and benchmarking functions of the IEEE CEC ***,the accuracy and efficacy of DMOA were demonstrated by means of the convergence rate,Wilcoxon testing,and ***,fairness using Jain’s index in queue delay optimization in terms of throughput and latency,along with computational complexity,is also evaluated and compared with other *** results show that DMOA exceeds other bio-inspired optimization algorithms in terms of fairness in queue delay management and average packet *** proposed a

关键词： Dragonfly damselfly Interaction Queuing delay Optimization Industrial wireless networks

Disturbance Observer-Based Predictive Tracking Control of Uncertain HOFA Cyber-Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1711-1713页

作者： da.wei Zhang Guo-Ping Liu IEEE the Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,an output tracking control problem of uncertain cyber-physical systems(CPSs)is considered in the perspective of high-order fully actuated(HOFA)system theory,where a lumped disturbance is use... 详细信息

关键词： Observer Uncertain letter

Local Hamilton type Gradient Estimates and Harnack Inequalities for Nonlinear Parabolic Equations on Riemannian Manifolds

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Acta Mathematicae Applicatae Sinica 2024年第2期40卷 539-546页

作者： wen WANG da-peng XIE Hui ZHOU School of Mathematics and Statistics Hefei Normal UniversityHefei 230601China

In this paper,we prove a local Hamilton type gradient estimate for positive solution of the nonlinear parabolic equation ut(x,t)=Δu(x,t)+au(x,t) ln u(x,t)+bu^(α)(x,t),on M×(-∞,∞) with α∈R,where a and b are *** ... 详细信息

关键词： nonlinear parabolic equation gradient estimate Harnack inequality