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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun zheng Jinchuan zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

Stability and accuracy of central difference method for real-time dynamic substructure testing considering mass participation coefficient

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Earthquake Engineering and Engineering Vibration 2024年第3期23卷 625-636页

作者： zheng Lichang Xu Guoshan Yang Ge Wang Zhen Yang Kaibo zheng Zhenyun School of Civil Engineering Harbin Institute of TechnologyHarbin 150090China Key Lab of Structures Dynamic Behavior and Control Ministry of EducationHarbin Institute of TechnologyHarbin 150090China Key Lab of Intelligent Disaster Mitigation Ministry of Industry and Information TechnologyHarbin 150090China School of Civil Engineering and Architecture Wuhan University of TechnologyWuhan 430070China

For real-time dynamic substructure testing(RTDST),the influence of the inertia force of fluid specimens on the stability and accuracy of the integration algorithms has never been ***,this study proposes to investigate the stability and accuracy of the central difference method(CDM)for RTDST considering the specimen mass participation ***,the theory of the CDM for RTDST is ***,the stability and accuracy of the CDM for RTDST considering the specimen mass participation coefficient are ***,numerical simulations and experimental tests are conducted for verifying the effectiveness of the *** study indicates that the stability of the algorithm is affected by the mass participation coefficient of the specimen,and the stability limit first increases and then decreases as the mass participation coefficient *** most cases,the mass participation coefficient will increase the stability limit of the algorithm,but in specific circumstances,the algorithm may lose its *** stability and accuracy of the CDM considering the mass participation coefficient are verified by numerical simulations and experimental tests on a three-story frame structure with a tuned liquid damper.

关键词： real-time dynamic substructure testing central difference method stability mass participation coefficient tuned liquid damper

Robust Distributed Model Predictive Control for Formation Tracking of Nonholonomic Vehicles

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 560-562页

作者： Zhigang Luo Bing Zhu Jianying zheng Zewei zheng School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

Dear Editor,This letter proposes a robust distributed model predictive control(MPC) strategy for formation tracking of a group of wheeled vehicles subject to constraints and disturbances. Formation control has attract... 详细信息

关键词： letter constraints searching

Disturbance Observer-based Pointing Control of Leighton Chajnantor Telescope

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Research in Astronomy and Astrophysics 2024年第1期24卷 135-150页

作者： Weirui Chen zheng Wang School of Automation Southeast UniversityNanjing 210096China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast UniversityNanjing 210096China

Leighton Chajnantor Telescope(LCT), i.e., the former Caltech Submillimeter Observatory telescope, will be refurbished at the new site in Chajnantor Plateau, Chile in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbances directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT's pointing control since the existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer—based composite position controller(DOB-CPC) is designed, in which an H∞feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller(i.e., DOB-CPC) for rejecting the disturbance acting on LCT.

关键词： instrumentation:miscellaneous methods:analytical methods:numerical telescopes

Universal method for designing periodic orbits by homotopy classes in the elliptic restricted three-body problem

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Astrodynamics 2024年第1期8卷 175-188页

作者： Yue zheng Min Zhao School of Electronic Engineering Xi’an Aeronautical InstituteXi’an710077China School of Aircraft Engineering Xi’an Aeronautical InstituteXi’an710077China School of Astronautics Northwestern Polytechnical UniversityXi’an710072China

The current methods for designing periodic orbits in the elliptic restricted three-body problem(ERTBP)have the disadvantages of targeting limited orbits and ergodic searches and considering only symmetric orbits.A universal method for designing periodic orbits is proposed in this ***,the homotopy classes of orbits are structured based on their topological ***,a dynamic model based on homotopy classes,ranging from the circular restricted three-body problem(CRTBP)to the ERTBP,can be built using the homotopy ***,a multi-and a single-period orbit were selected based on the resonance ***,the corresponding orbit in the ERTBP was computed by modifying the initial condition of the orbit in the *** method,without an ergodic search,can extend to any orbit,including an asymmetric orbit in the CRTBP,to the ERTBP model,and the two orbits are of the same homotopy *** of the Earth–Moon ERTBP are presented to verify the efficiency of this method.

关键词： periodic orbit elliptic restricted three-body problem(ERTBP) topology homotopy circular restricted three-body problem(CRTBP)

The Logarithmic Sobolev Inequality for a Submanifold in Manifolds with Nonnegative Sectional Curvature

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Chinese Annals of Mathematics,Series B 2024年第3期45卷 487-496页

作者： Chengyang YI Yu zheng School of Mathematical Sciences East China Normal UniversityShanghai 200241China

The authors prove a sharp logarithmic Sobolev inequality which holds for compact submanifolds without boundary in Riemannian manifolds with nonnegative sectional curvature of arbitrary dimension and *** the Michael-Simon Sobolev inequality,this inequality includes a term involving the mean *** extends a recent result of Brendle with Euclidean setting.

关键词： Logarithmic Sobolev inequality Nonnegative sectional curvature Submanifold

The Short-Duration Heavy Rainfall in Different Quadrants of Northeast China Cold Vortices

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Journal of Meteorological Research 2024年第2期38卷 321-338页

作者： Lei YANG Yongguang zheng Liaoning Meteorological Disaster Monitoring and Early Warning Center Shenyang 110166 National Meteorological Centre China Meteorological AdministrationBeijing 100081 China Meteorological Administration Tornado Key Laboratory Foshan 528315

The Northeast China cold vortex(NCCV)is one of the main synoptic-scale systems causing short-duration heavy rainfall(SDHR)in Northeast *** conditions(e.g.,water vapor,instability,and vertical wind shear)are known to be distinctly different over the four quadrants of NCCVs,rendering prediction of the SDHR related to NCCVs(NCCV_SDHR)more *** on 5-yr hourly rainfall observations from 3196 automatic weather stations and ERA5 reanalysis data,10,232 NCCV_SDHR events were identified and divided into four quadrant groups according to their relative position to the center of the NCCV(CVC).The results show that the southeast quadrant features the highest frequency of SDHR,with stronger intensity,longer duration,and wider coverage;and the SDHR in different quadrants presents different formation mechanisms and varied temporal evolution.A new coordinate system is established relative to the CVC that uses the CVC as the origin and the radius of the NCCV(r CV)as the unit *** this new coordinate system,all of the NCCV_SDHR events in the 5-yr study period are *** is found that the occurrence frequency of NCCV_SDHR initially increases and then decreases with increasing distance from the *** highest frequency occurs mainly between 0.8 and 2.5 times r CV from the CVC in the southeast *** can be attributed to the favorable conditions,such as convergence of the low-level shear line and abundant water vapor,which are concentrated in this ***,high-frequency NCCV_SDHR larger than 50 mm(NCCV_SDHR50)is observed to be closer to the *** NCCV_SDHR50occurs,the NCCV is in closer proximity to the subtropical high,resulting in stronger low-level convergence and more abundant water ***,there are lower lifting condensation levels and stronger 0-6-and 0-1-km vertical wind shears in these *** findings provide a valuable reference for more accurate prediction of NCCV_SDHR.

关键词： Northeast China cold vortex short-duration heavy rainfall statistical characteristics environmental conditions

Exploring Trade-offs in Thermal Interface Materials:The Impact of Polymer-Filler Interfaces on Thermal Conductivity and Thixotropy

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Chinese Journal of Polymer Science 2024年第7期42卷 916-925,I0006页

作者： Bin Zhang zheng-Li Dou Yong-zheng Zhang Qiang Fu Kai Wu College of Polymer Science and Engineering State Key Laboratory of Polymer Materials EngineeringSichuan UniversityChengdu610065China

Effective thermal transport across solid-solid interfaces which is essential in thermal interface materials(TIMs),necessitates both optimal thixotropy and high thermal *** role of filler surface modification,a fundamental aspect of TIM fabrication,in the influence of these properties is not fully *** study employs the use of a silane coupling agent(SCA)to modify alumina,integrating experimental approaches with molecular dynamics simulations,to elucidate the interface effects on thixotropy and thermal conductivity in polydimethylsiloxane(PDMS)-based *** findings reveal that the variations of SCAs modify both interface binding energy and transition layer *** interface binding energy restricts macromolecular segmental relaxation near the interface,hindering desirable thixotropy and bond line *** the contrary,the thickness of the transition layer at the interface positively influences thermal conductivity,facilitating the transport of phonons between the polymer and ***,selecting an optimal SCA allows a balance between traditionally conflicting goals of high thermal conductivity and minimal bond line thickness,achieving an impressively low interface thermal resistance of just 2.45-4.29 K·mm^(2)·W^(-1)at275.8 kPa.

关键词： Thermal interface material Surface modification Thermal conductivity Thixotropy Interface thermal resistance

Mechanism Design for Ancillary Service Market Considering Social Welfare and Fairness

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CSEE Journal of Power and Energy Systems 2024年第3期10卷 1000-1010页

作者： Zhi Wu Yuanxi Wu Wei Gu zheng Xu Shu zheng Jingtao Zhao School of Electrical Engineering Southeast UniversityNanjing 210096China NARI Technology Co. Ltd.Nanjing 211106China IEEE CSEE

Increasing penetration of distributed energy resources in the distribution network(DN)is threatening safe operation of the DN,which necessitates setup of the ancillary service market in the *** the ancillary service market,distribution system operator(DSO)is responsible for safety of the DN by procuring available capacities of *** existing studies,this paper proposes a novel market mechanism composed of two parts:choice rule and payment *** proposed choice rule simultaneously considers social welfare and fairness,encouraging risk-averse aggregators to participate in the ancillary service *** is then formulated as a linear programming problem,and a distributed solution using the multi-cut Benders decomposition is ***,successful implementation of the choice rule depends on each aggregator’s truthful adoption of private ***,a payment rule is also designed,which is proved to possess two properties:incentive compatibility and individual *** results demonstrate effectiveness of the proposed choice rule on improving fairness and verify properties of the payment rule.

关键词： Aggregator ancillary service market distributed mechanism fairness mechanism design