检索结果-南通市图书馆

Exponential attitude and gyro-bias estimation on the Special orthogonal group SO（3） 36

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Exponential attitude and gyro-bias estimation on the Special...

第36届中国控制会议

作者： peng xiuhui SUN Junyong GENG Zhiyong The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of EngineeringPeking University

ISBN: (纸本)9781538629185

This paper considers a nonlinear attitude estimator to estimate the attitude and gyro-bias exponentially for rigid body whose kinematics is evolved on the Special orthogonal group SO（3）, which can describe the attitude globally and *** to the asymptotic stabilities which are presented in the previous literature, the estimator presented in this paper has exponential convergence. The exponential stability analysis is demonstrated by singular perturbation method which divide the closed loop system into fast system and slow system. The results can be apply to the vehicles which are equipped with the low-cost inertial measurement unit（IMU） such as gyroscope. Finally, the theoretical results are verified through a numerical simulation.

关键词： Attitude estimator Gyro-bias Special orthogonal group SO(3) Exponential stability Singular perturbation method

Isobaric Vapor-Liquid Equilibrium of Binary Systems： p-Xylene ＋（Acetic Acid, Methyl Acetate and n-Propyl Acetate） and Methyl Acetate ＋ n-Propyl Acetate in an Acetic Acid Dehydration Process

在线全文

cnki会议

学校读者我要写书评

暂无评论

Chinese Journal of Chemical Engineering 2013年第2期21卷 171-176页

作者： HUANG xiuhui ZHONG Weimin peng Changjun QIAN Feng Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai 200237 China

The vapor-liquid equilibrium data of four binary systems (acetic acid +p-xylene, methyl acetate +n-propyl acetate, n-propyl acetate +p-xylene and methyl acetate +p-xylene) are measured at 101.33 kPa with Ellis equilibrium still, and then both the NRTL and UNIQUAC models are used in combination with the HOC model for correlating and estimating the vapor-liquid equilibrium of these four binary systems. The estimated binary VLE results using correlated parameters agree well with the measured data except the methyl acetate +p-xylene system which easily causes bumping and liquid rushing out of the sampling tap due to their dramatically different boiling points. The correlation results by NRTL and UNIQUAC models have little difference on the average absolute deviations of temperature and composition of vapor phase, and the results by NRTL model are slightly better than those by UNIQUAC model except for the methyl acetate +n-propyl acetate system, for which the latter gives more accurate correlations.

关键词： vapor-liquid equilibrium p-xylene acetic acid methyl acetate n-propyl acetate parameter correlation

维普期刊数据库

Specified finite time attitude stabilization for rigid body on SO（3）

在线全文

学校读者我要写书评

暂无评论

Specified finite time attitude stabilization for rigid body ...

第37届中国控制会议

作者： peng xiuhui HE Xiaodong GENG Zhiyong The State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering Science College of EngineeringPeking University

This paper addresses the problem of specified finite time attitude stabilization for rigid body whose kinematic is modeled on Special Orthogonal group SO（3）,which can describe the attitude globally and uniquely,*** virtue of time-rescaling approach,the transformation systems are proposed and the specified finite time control law can be derived from the transformation *** by the backstepping approach,a finite time based specified finite time control law is proposed and removes the phenomenon of unbounded control torque if an inapposite time-rescaling function is ***,the Sim Mechanics simulations show that the theoretical results of specified finite time attitude stabilization have good performance.

关键词： Attitude stabilization Special Orthogonal group SO(3) Specified finite time Time-rescaling approach

Consensus Control for Vehicles with Nonholonomic Constraints on Special Euclidean Group SE（2）

在线全文

cnki会议

学校读者我要写书评

暂无评论

Consensus Control for Vehicles with Nonholonomic Constraints...

第30届中国控制与决策会议

作者： Xiaodong He Zhiyong Geng xiuhui peng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University

This paper studies the consensus control for multiple nonholonomic vehicles, whose kinematics evolve on Special Euclidean group SE（2）. Since the purpose of researching consensus control is to design formation control strategies, a consensus-based formation controller is proposed in the text as well. At first, the paper gives the preliminaries and a general formulation of the problem. Then, a global and asymptotical consensus control law is introduced for two nonholonomic vehicles on SE（2）. From any initial configuration, the vehicles can be driven to the same position and orientation asymptotically under the presented controller. Next, with the aid of the geometric convex combination on SE（2）,the consensus control law for multi-vehicle systems is addressed, on the basis of the result of two vehicles ***, the paper presents the consensus-based formation controller for vehicles with parallel desired formations, where all the vehicles are parallel to each other in a straight line along the side of vehicles. For verification of the theoretical results, numerical simulations are given at the end.

关键词： Nonholonomic vehicles Formation control Geometric approach

AIS trajectory classification via improved IMM approach

在线全文

cnki会议

学校读者我要写书评

暂无评论

AIS trajectory classification via improved IMM approach

第43届中国控制会议

作者： Yanghua Liu Rui Fu xiuhui peng Yongxiao Tian School of Future Technology Shanghai University The College of Automation Engineering Nanjing University of Aeronautics and Astronautics Key Laboratory of Marine Intelligent Unmanned Swarm Technology and System (Shanghai University) Ministry of Education

This paper addressed the classification and prediction problem of ship AIS trajectories through an improved interacting multiple model *** homogeneous Markov models are characterized by static transition probabilities and have limited adaptability to trends in AIS data over ***,this study employs non-homogeneous Markov models that adapt their transition probabilities in response to dynamic changes in data characteristics,thus significantly enhancing the system's ability to adapt to temporal correlations within the *** approach can improve the accuracy of trajectory classification and ***,the theoretical result is applied to actual AIS trajectory processing illustrates the method's effectiveness and practical implications.

关键词： AIS Extended Kalman Filter Non-homogeneous Markov chain Interacting Multiple Model

Parallel Formation Tracking for Nonholonomic Vehicles in Some Constrained Conditions

在线全文

cnki会议

学校读者我要写书评

暂无评论

Parallel Formation Tracking for Nonholonomic Vehicles in Som...

第三十九届中国控制会议

作者： Mingxiang Wang Jinpeng Zhai Zhiyong Geng xiuhui peng State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of Engineering Peking University College of Automation Engineering Nanjing University of Aeronautics and Astronautics

In this paper a solution to the problem of the parallel formation tracking for the nonholonomic system is *** of all, we give the analysis of the parallel formation problem in the ideal condition and propose a controller for the *** we consider the non-ideal condition that the communication between two vehicles is not available, i.e., the position, the bearing angle and the velocity of the leader can not be obtained by the follower. With the relative parameters collected by the sensors installed on the follower, we derive a feedback control law using the Lyapunov-type analysis that keeps the follower in a parallel formation with the leader. Moreover, the bound can be reduced by increasing the value of the control gains, and the error of the angle can be proved to be non-zero during the whole procedure. Simulations are presented to verify the theoretical results.

关键词： non-holonomic system the parallel formation tracking the limited information

Robust stabilization of an AUV within pre-specified finite-time

在线全文

cnki会议

学校读者我要写书评

暂无评论

Robust stabilization of an AUV within pre-specified finite-t...

第43届中国控制会议

作者： Hongjiao Niu Yixiong Wei Tao Zhen Haiping Wang xiuhui peng Qi Wang Xufei Yan ZheJiang Lab College of Automation Engineering Nanjing University of Aeronautics and Astronautics Beijing National Railway Research & Design Institute of Signal & Communication

This study addresses the robust stabilization control of an autonomous underwater vehicle(AUV) within pre-specified *** AUV is represented as a solid body submerged in *** to hydrodynamic interaction,the AUV's system encounters uncertain inherent dynamics,encompassing gyroscopic forces and physical *** direct compensation of the system's inherent dynamics,a common approach in control design,proves ineffective for AUVs affected by ***,a robust control technique that does not rely on compensating unknown dynamics is ***,a time rescaling technique is introduced to transform pre-specified finite-time stabilization into asymptotic ***,a PD controller designed through potential energy shaping and damping injection is proposed to achieve exponential stabilization of the time rescaling *** artificial potential energy defined on the AUV's configuration space SE(3)(a Special Euclidean group) is introduced,utilizing its gradient as the proportional control *** damping leads to asymptotically stabilization,which serves as the differential control ***,the pre-specified finite-time controller is proposed by the time rescaling method,which also enhances robustness against uncertain dynamics in the *** simulations are conducted to validate the obtained results.

关键词： robust stabilization pre-specified finite-time control time rescaling method potential energy shaping damping injecting

制造商研发投入及双向公平关切的动力电池闭环供应链定价决策

在线全文

cnki会议

学校读者我要写书评

暂无评论

物流科技 2023年第11期46卷 110-115页

作者：彭秀慧江苏大学管理学院江苏镇江212013

探究研发型制造商研发投入及双向公平关切对动力电池闭环供应链定价决策的影响。构建由研发型制造商、非研发型制造商和第三方回收商构成的闭环供应链,运用Stackelberg博弈解析了集中决策模型,以及研发型制造商是否具有双向公平关切的... 详细信息

探究研发型制造商研发投入及双向公平关切对动力电池闭环供应链定价决策的影响。构建由研发型制造商、非研发型制造商和第三方回收商构成的闭环供应链,运用Stackelberg博弈解析了集中决策模型,以及研发型制造商是否具有双向公平关切的两种分散决策模型。研究表明:随着研发成本的增加,两种动力电池零售价格均降低,这有异于传统观点“投入越高售价越高”;横向和纵向公平关切系数对非研发型制造商和第三方回收商收益的影响趋势存在差异,但均损害研发型制造商及供应链整体利润。

关键词：动力电池闭环供应链制造商竞争双向公平关切研发投入

维普期刊数据库

PCA-LS-SVM预测模型在地沟油鉴别中的应用

在线全文

学校读者我要写书评

暂无评论

计算机与应用化学 2013年第10期30卷 1207-1210页

作者：彭秀辉刘飞陈珺刘艳江南大学轻工过程先进控制教育部重点实验室自动化研究所江苏无锡214122

通过对油脂近红外吸光度的分析研究,提出了一种快速无损鉴别地沟油的新方法。首先运用主成分分析法对预处理后的各油脂光谱数据进行聚类分析并获取油脂的近红外指纹图谱,然后选用前4个主成分作为最小二乘支持向量机的输入变量,建立PCA-L... 详细信息

通过对油脂近红外吸光度的分析研究,提出了一种快速无损鉴别地沟油的新方法。首先运用主成分分析法对预处理后的各油脂光谱数据进行聚类分析并获取油脂的近红外指纹图谱,然后选用前4个主成分作为最小二乘支持向量机的输入变量,建立PCA-LS-SVM预测模型,实现地沟油的鉴别。实验共选用6种油脂,每种选用35个样本建模,20个样本验证,结果表明,近红外光谱技术结合PCA-LS-SVM方法能够定性有效地识别油脂的种类,为地沟油的鉴别开创了新前景。

关键词：近红外光谱主成分分析最小二乘支持向量机地沟油

维普期刊数据库