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Leader-follower formation control with mismatched compasses

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Leader-follower formation control with mismatched compasses

Distributed non‐ideal leader estimation and formation control for multiple non‐holonomic mobile robots

第36届中国控制会议

作者： peifen lu Wenwu Yu Fan Zhang School of Mathematics Southeast University

ISBN: (纸本)9781538629185

This paper deals with a leader-follower formation control problem subject to mismatched *** the presence of mismatched compasses,each agent has different knowledge of the North so that they cannot share one global coordinate *** leader-follower formation control,the agents in a team are required to form a desired spatial configuration and moreover,the whole formation is driven to a predefined *** turns out that typical formation control algorithms do not work through the given formation *** means of estimation and compensation,our modified control algorithm can achieve the above goals using the estimate of the derivation of the *** this paper,we only consider the two agent case without loss of ***,numerical simulations are presented to illustrate the obtained theoretical results.

关键词： Formation control leader-follower mismatched compasses

来源： cnki会议评论

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IET Cyber-Systems and Robotics 2022年第3期4卷 163-174页

作者： peifen lu Zhigang Ren Zongze Wu Zhipeng Li Shichao Zhou School of Automation Guangdong Hong Kong Macao Joint Laboratory for Smart Discrete ManufacturingGuangdong University of TechnologyGuangzhouGuangdongChina Key Laboratory of Industrial Internet of Things&Networked Control Ministry of EducationChongqing University of Posts and TelecommunicationsChongqingChina College of Engineering Qufu Normal UniversityQufuShandongChina School of Statistics and Data Science Nanjing Audit UniversityNanjingJiangsuChina

This paper studies a distributed formation problem for non‐holonomic mobile *** of the leader dynamics of the robots as non‐ideal,that is,subject to dis-turbances/unmodelled variables,is the distinguishing feature of this *** issue is resolved by a distributed combined disturbance‐and‐leader estimator,allowing for the distributed reconstruction of the leader's *** estimator needs to detect the leader's information and *** order to reject such disturbance and achieve the formation asymptotically,the control law incorporates the smooth estimator's estimate of the leader ***,the stability of the total distributed formation control algorithm is also examined using the Lyapunov ***,to show the viability of the pro-posed theoretical results,simulations and actual experiments are carried out.

关键词： distributed estimator disturbed leader formation control multiagent system nonholonomic mobile robots

Simultaneous improving luminescence intensity and stability of CsPbBr_(3):SCN−@Eu/Zr-Uio-66-NH_(2) with tunable emissions from blue to green and applications in indoor photovoltaics

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Nano Research 2024年第8期17卷 6879-6887页

作者： Minze Li Yao Sun Honglai lu peifen Zhu Ruihong Wang Guofeng Wang Key Laboratory of Functional Inorganic Material Chemistry Ministry of EducationSchool of Chemistry and Materials ScienceHeilongjiang UniversityHarbin 150080China Department of Electrical Engineering and Computer Science University of MissouriColumbiaMO 65211USA

The construction of stable and efficient materials that emit blue and green light remains a *** the blue light materials reported,metal-organic framework(MOF)materials are rarely reported as blue phosphors due to their weak luminescence *** on the construction of CsPbBr_(3)@MOF(CPB@MOF),an innovative idea was proposed to simultaneously enhance the green luminescence of CPB and the blue luminescence of MOF through the interaction between CPB and MOF for the first *** expected,the blue luminescence from CPB:7%SCN−@0.5%MOF:Eu as well as the green luminescence from 5%CPB:7%SCN−@MOF:Eu was sufficient to construct high-performance light-emitting diode(LED)devices and further excite solar cells to generate stable photoelectric *** white LED(WLED)device with excellent color quality(color rendering index(CRI)=96.2)and correlated color temperature(CCT=9688 K)can be constructed by using the obtained blue-emitting CPB:7%SCN-@0.5%MOF:Eu,green-emitting 5%CPB:7%SCN−@MOF:Eu,and red-emitting PPB:30%Mn^(2+).The density functional theory(DFT)theoretical calculation results indicate that the p orbital of Pb plays the major role in the conduction band,and the p orbital of Br plays the major role in the valance band of CPB and CPB:SCN−.While the p orbital of O plays the major role in both the conduction band and valance band of *** heat capacity of CPB and CPB:SCN−separately reaches the Dulong–Petit limit at 200 and 400 K,indicating that the thermal stability of CsPbBr_(3)increases after SCN−doping.

关键词： CsPbBr_(3):SCN−@Uio-66-NH_(2) composites luminescence stability white light-emitting diodes(WLEDs) indoor photovoltaics density functional theory(DFT)calculation

Coulomb exploded directional double ionization of N2O molecules in multicycle femtosecond laser pulses

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Chinese Physics B 2019年第9期28卷 22-26页

作者： Junyang Ma Kang Lin Qinying Ji Wenbin Zhang Hanxiao Li Fenghao Sun Junjie Qiang peifen lu Hui Li Xiaochun Gong Jian Wu State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200062China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China

We experimentally investigate Coulomb exploded directional double ionization of N2O molecules in elliptically polarized femtosecond laser *** denitrogenation and deoxygenation channels are accessed via various *** leads to distinct asymmetries in directional breaking of the doubly ionized N2O molecules versus the instantaneous laser field vector, which is revealed by tracing the sum-momentum spectra of the ionic fragments as a recoil of the ejected *** results demonstrate that the accessibility of the Coulomb exploded double ionization channels of N2O molecules are ruled by the detailed potential energy curves, and the directional emission of the fragments are governed by the joint effects of the electron localization-assisted enhanced ionization of the stretched molecules and the profiles of the molecular orbitals.

关键词： strong-field ionization directional molecular bond breaking ultrafast dynamics of molecules

Rabi oscillations in a stretching molecule

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Light(Science & Applications) 2023年第2期12卷 239-247页

作者： Shengzhe Pan Chenxi Hu Wenbin Zhang Zhaohan Zhang Lianrong Zhou Chenxu lu peifen lu Hongcheng Ni Jian Wu Feng He State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200241China Key Laboratory for Laser Plasmas(Ministry of Education)and School of Physics and Astronomy Collaborative Innovation Center of IFSA(CICIFSA)Shanghai Jiao Tong UniversityShanghai 200240China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuanShanxi 030006China Chongqing Key Laboratory of Precision Optics Chongqing Institute of East China Normal UniversityChongqing 401121China SCAS Center for Excellence in Ultra-intense Laser Science Shanghai 201800China

Rabi oscillation is an elementary laser-driven physical process in atoms and artificial atoms from solid-state systems,while it is rarely demonstrated in ***,we investigate the bond-length-dependent Rabi oscillations with varying Rabi frequencies in strong-laser-field dissociation of H2+.The coupling of the bond stretching and Rabi oscillations makes the nuclei gain different kinetic energies while the electron is alternatively absorbing and emitting *** resulting proton kinetic energy spectra show rich structures beyond the prediction of the Floquet theorem and the well-accepted resonant one-photon dissociation *** study shows that the laser-driven Rabi oscillations accompanied by nuclear motions are essential to understanding the bond-breaking mechanism and provide a time-resolved perspective to manipulate rich dynamics of the strong-laser-field dissociation of molecules.

关键词： stretching dissociation resonant

Molecular wakes for ultrashort laser pulses

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Science China(Physics,Mechanics & Astronomy) 2010年第6期53卷 1036-1039页

作者： CAI Hua,WU Jian,lu peifen,TONG YuQi,YANG Xuan,BAI XueShi,LI Hao,PAN HaiFeng & ZENG HePing State Key Laboratory of Precision Spectroscopy,East China Normal University,Shanghai 200062,China State Key Laboratory of Precision Spectroscopy East China Normal University Shanghai China

The molecular wake-assisted interaction between two collinear femotosecond laser pulses is investigated in air,which leads to the generation of a controllable 1.8 mJ super-continuum pulse with an elongated self-guided channel due to the cross-phase modulation of the impulsively aligned diatomic molecules in air. For two parallel launched femtosecond laser pulses with a certain spatial separation,controllable attraction and repulsion of the pulses are observed due to the counter-balance among molecular wakes,Kerr and plasma effects,where the molecular wakes show a longer interaction distance than the others to control the propagation of the intense ultrashort laser pulses.

关键词： molecular wakes ultrashort laser pulse interaction super-continuum generation

Rydberg state excitation in molecules manipulated by bicircular two-color laser pulses

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Advanced Photonics 2023年第1期5卷 19-26页

作者： Wenbin Zhang Yongzhe Ma Chenxu lu Fei Chen Shengzhe Pan peifen lu Hongcheng Ni Jian Wu East China Normal University State Key Laboratory of Precision SpectroscopyShanghaiChina ludwig-Maximilians-Universität Munich Department of PhysicsGarchingGermany Max Planck Institute of Quantum Optics GarchingGermany Shanxi University Collaborative Innovation Center of Extreme OpticsTaiyuanChina CAS Center for Excellence in Ultra-Intense Laser Science ShanghaiChina

Multiphoton resonant excitation and frustrated tunneling ionization,manifesting the photonic and optical nature of the driving light via direct excitation and electron recapture,respectively,are complementary mechanisms to access Rydberg state excitation(RSE)of atoms and molecules in an intense laser ***,clear identification and manipulation of their individual contributions in the light-induced RSE process remain experimentally ***,we bridge this gap by exploring the dissociative and nondissociative RSE of H2 molecules using bicircular two-color laser *** on the relative field strength and polarization helicity of the two colors,the RSE probability can be boosted by more than one order of magnitude by exploiting the laser waveform-dependent field *** role of the photon effect is readily strengthened with increasing relative strength of the second-harmonic field of the two colors regardless of the polarization *** compared to the nondissociative RSE forming H2,the field effect in producing the dissociative RSE channel of eHt;HT is moderately suppressed,which is primarily accessed via a three-step sequential process separated by molecular bond *** work paves the way toward a comprehensive understanding of the interplay of the underlying field and photon effects in the strong-field RSE process,as well as facilitating the generation of Rydberg states optimized with tailored characteristics.

关键词： strong-field Rydberg state excitation molecular dissociative ionization bicircular two-color fields multiphoton resonant excitation frustrated tunneling ionization

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拼接式反射镜共相误差检测

光学学报 2017年第11期37卷 147-154页

作者：郑彬陆培芬陈永和傅雨田中国科学院上海技术物理研究所上海200083 中国科学院红外成像与探测技术重点实验室上海200083 中国科学院大学北京100049 华东师范大学精密光谱科学与技术国家重点实验室上海200062

基于圆孔衍射理论,设计了一套拼接式反射镜的共相误差光学检测系统,并采用双波长窄带共相算法实现对合成孔径拼接镜的共相检测。方案中设计了圆孔掩模板、相位板和微棱镜阵列,通过数值仿真得到子镜间存在一系列台阶差时的圆孔衍射模板图... 详细信息

基于圆孔衍射理论,设计了一套拼接式反射镜的共相误差光学检测系统,并采用双波长窄带共相算法实现对合成孔径拼接镜的共相检测。方案中设计了圆孔掩模板、相位板和微棱镜阵列,通过数值仿真得到子镜间存在一系列台阶差时的圆孔衍射模板图样,再将待测图样与模板图样进行相关匹配,获得当前子镜间存在的台阶差。在将检测方案应用于拼接镜检测之前,通过相位板在光路中引入已知量相位差进行模拟实验,对衍射图样进行采样和匹配;实验结果验证了方案的可行性,可实现对合成孔径拼接面进行较高精度的共相检测。

关键词：测量圆孔衍射共相检测拼接镜面合成孔径系统

Ras GRF2 Promotes Migration and Invasion of Colorectal Cancer Cells by Modulating Expression of MMP9 through Akt/NF-B Pathway

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Ras GRF2 Promotes Migration and Invasion of Colorectal Cance...