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A FAS approach for stabilization of generalized chained forms: part 1. Discontinuous control laws

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Science China(Information Sciences) 2024年第2期67卷 118-143页

作者： Guang-Ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Center for Control Science and Technology Southern University of Science and Technology

In this paper, a type of general nonholonomic systems is proposed, which contains both the Brockett’s two example systems, and their extended n-dimensional chained forms, as special cases. For the stabilization of such systems, a stabilizing controller is proposed based on the fully actuated system(FAS)approach, which is discontinuous at the origin but time-invariant when the open-loop system is time-invariant,and drives the feasible trajectories of the system to the origin exponentially. Furthermore, the proposed FAS approach is also extended to the sub-normal system case and the time-delay system case.

关键词： nonholonomic systems feedback stabilization exponential convergence sub-fully actuated systems time-delay systems

A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-Ren duan Center for Control Theory and Guidance Technology Harbin Institute of Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren duan School of Engineering Qufu Normal UniversityRizhao 276826China Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055 Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

Distributed velocity-free formation tracking control for clustered UAVs under virtual leader-follower framework

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Science China(Technological Sciences) 2024年第5期67卷 1538-1552页

作者： ZHANG ZhaoYu duan HaiBin School of Automation Science and Electrical Engineering Beihang UniversityBeijing100083China

The collective formation control problem of a cluster of rotorcraft unmanned aerial vehicles(UAVs)is investigated in this *** consensus tracking towards formation centroid with following UAVs forming a predefined configuration around the leader is considered as the *** prior studies,the information of the central reference trajectory,which is deemed as a virtual leader in the leader-follower topology,is not directly accessible for partial nodes through the communication ***,a novel distributed formation tracking control scheme is ***,a decentralized saturation observer is employed to estimate the reference acceleration signal of the virtual *** the absence of linear velocity measurement,two sliding manifolds are proposed by introducing the relative discrepancy terms of position and *** a smooth saturation operator in the form of a sigmoid function is applied to generate the command force ***,under the dilemma of constrained capabilities of the airborne sensors equipped on the rotorcrafts,the angular velocity is difficult to *** cascaded auxiliary attitude error systems are established on each rotorcraft system to synthesize the rotating torque with no need to require the angular velocity *** to the strong coupling and nonlinearity of the rotorcraft UAV system,the command angular velocity and the derivatives of command input are hard to *** a continuous nonlinear differentiator is proposed to work with the difficulties in deriving the explicit expression of system ***,a detailed stability analysis is conducted progressively on the angular control loop,reference trajectory observer loop,and the position control loop.A simulation scheme for a cluster of four rotorcraft UAVs tracking sinusoidal trajectory are presented and the formation control results are proven advantageous in comparison with the control protocol in previous literature.

关键词： distributed formation control unmanned rotorcraft clusters velocity-free tracking nonlinear differentiator

Triangle-free Graphs with Three Positive Eigenvalues

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Algebra Colloquium 2024年第3期31卷 525-540页

作者： Fang duan School of Mathematical Sciences Xinjiang Normal UniversityUrumqi 830017China

A graph G is called triangle-free if G does not contain any triangle as its induced *** G_(n)be the set of triangle-free graphs of order n each of which has three positive *** this paper,we find 20 specific graphs in G_(n),each of which has nullity no more than 2,and we show that in terms of three graph transformations all the other graphs of G_(n)can be constructed from these 20 specific ***,we completely characterize the triangle-free graphs with exactly three positive eigenvalues.

关键词： positive(negative)inertia index nullity triangle-free graph

A comprehensive research on wear resistance of GH4169 superalloy in longitudinal-torsional ultrasonic vibration side milling with tool wear and surface quality

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Chinese Journal of Aeronautics 2024年第4期37卷 556-573页

作者： Baoqi CHANG Zhaoxi YI Fen ZHANG Lian duan Ji-an duan School of Mechanical and Electrical Engineering Central South UniversityChangsha 410083China State Key Laboratory of High Performance and Complex Manufacturing Central South UniversityChangsha 410083China School of Physics and Electronics Central South UniversityChangsha 410083China

To improve the service and machining performance of the workpiece, the tool wear mechanisms, surface machining quality, and wear resistance in conventional side milling(CSM)and longitudinal-torsional ultrasonic vibration side milling(LTUVSM) of GH4169 superalloy at different cutting lengths are investigated systematically. Tool wear mechanisms are revealed and the correlation between machined surface quality with tool wear is analyzed correspondingly. Tool wear patterns mainly include adhesive wear, diffusion wear, abrasive wear, and chipping *** surface quality is achieved in LTUVSM due to a maximum reduction of flank wear bandwidth and wear rate by 71.9% and 71.5%, respectively, compared to CSM. The friction coefficient,initial wear stage time, and wear volume of dry sliding wear were measured to evaluate the workpiece wear resistance. The maximum reductions in friction coefficient and wear volume in LTUVSM are 18.2% and 15.8% compared to CSM. The regular ultrasonic vibration textures suppress the friction and the growth of contact nodes in the contact area, decreasing the degree of surface wear, which is demonstrated by a 38.8% increase in initial wear stage time compared to *** conclusion, the workpiece in LTUVSM exhibits higher wear resistance because of the improvement of tool wear and the guarantee of surface quality.

关键词： Dry sliding wear Surface quality Tool wear Ultrasonic vibration Wear resistance

Nanostructured lubricant additives for titanium alloy:Lubrication by the solid-liquid interface with Coulomb repulsion

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Friction 2024年第7期12卷 1564-1579页

作者： Linlin duan Dan JIA Jian LI Jianfang LIU Haitao duan State Key Laboratory of Special Surface Protection Materials and Application Technology Wuhan Research Institute of Materials ProtectionWuhan 430030China Hubei Longzhong Laboratory Xiangyang 441000China College of Life Science and Technology Wuhan Polytechnic UniversityWuhan 430030China

In this work,the advantage of Coulomb repulsion in the intermolecular forces experienced by molecules on the solid–liquid nanosized contact interface is taken,and the superior friction-reducing property of Cu_(3)(PO_(4))2·3H_(2)O(CuP)oil-based additives has been confirmed for titanium ***-dimensional(3D)CuP nanoflowers(CuP-Fs)with a strong capillary absorption effect are prepared to achieve the homogeneous mixing of solid CuP and lubricating *** by CuP-Fs additives for titanium alloy,friction coefficient(COF)can be reduced by 73.68%,and wear rate(WR)reduced by 99.69%.It is demonstrated that the extraordinary friction-reducing property is due to the repulsive solid–liquid interface with low viscous shear force originating from Coulomb repulsion between polar water molecules in CuP and non-polar oil ***,any steric hindrance or connection between this repulsive solid–liquid interface will trigger the adhesion and increase the viscous shear force,for example,dispersant,hydrogen bondings,and shaky adsorbed water ***,the lamellar thickness of CuP and the molecular size of lubricant both have a great influence on tribological *** the lubrication mechanism based on interface Coulomb repulsion is proposed that may help broaden the scope of the exploration in low-friction nanomaterial design and new lubricant systems.

关键词： lubrication nanomaterial additive solid-liquid interface wear

知与行：“语文课程与教学论”的翻转教学改革探索

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浙江海洋大学学报（人文科学版） 2017年第4期34卷 86-91页

作者：段双全浙江海洋大学人文学院、教师教育学院浙江舟山316022

"语文课程与教学论"是高校中文师范专业的核心课程。长期以来,其教学内容存在陈旧、混杂,教学方法存在单调、落后等弊端。在新世纪高校慕课改革的背景下,要真正进行本课程的翻转教学改革,其一必须"知变",其二必须"知理",更重要的需要"笃... 详细信息

"语文课程与教学论"是高校中文师范专业的核心课程。长期以来,其教学内容存在陈旧、混杂,教学方法存在单调、落后等弊端。在新世纪高校慕课改革的背景下,要真正进行本课程的翻转教学改革,其一必须"知变",其二必须"知理",更重要的需要"笃行"。知变,即知道跟传统教学相比翻转教学的变化;知理,即知道翻转变化中蕴含的道理;笃行,即把翻转教学切切实实地落实到本课程的教学之中。

关键词：语文课程与教学论翻转教学改革

Extremum seeking control for UAV close formation flight via improved pigeon-inspired optimization

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Science China(Technological Sciences) 2024年第2期67卷 435-448页

作者： YUAN GuangSong duan HaiBin State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083China

This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation *** proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading *** reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance ***,the performance function is parameterized by the first-order and second-order terms of its Taylor series *** the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance *** output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson *** with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the *** allows a faster convergence of relative position ***,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into *** convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale *** improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance *** Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.

关键词： unmanned aerial vehicle close formation extremum seeking control Newton-Raphson method improved pigeon-inspired optimization