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Event-triggered control for containment maneuvering of second-order MIMO multi-agent systems with unmatched uncertainties and disturbances

第二十九届中国控制会议

作者： zhang peng 1,2,li yuanchun 2 1.state key laboratory of automobile dynamic simulation,jilin university,changchun 130025,P.R.china 2.department of communication engineering,jilin university,changchun 130025,P.R.china

The traditional studies about two manipulators handling a flexible payload are mainly focused on configuration analysis and *** this paper,the control problem based on observer is *** the characteristic of flexible payload,the relations of the vibration states are got from the contact points between the end of manipulators and flexible payload.A new observer is designed based on the available *** order to make the system easy to control,the model is divided into a slow subsystem and a fast *** controllers are designed for each subsystem,*** stabilityof the whole system can be guaranteed with the observer and the control *** simulation validates the observer and controller.

关键词： Manipulator Observer Singular Perturbation Cooperative Control Flexible Payload

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Chinese Journal of Aeronautics 2020年第11期33卷 2959-2971页

作者： Yibo zhang Dan WANG Zhouhua peng Lu liU Shimin WANG School of Marine Electrical engineering Dalian Maritime UniversityDalian 116026China department of Electrical and Computer engineering University of AlbertaEdmontonAlberta T5J 4P6Canada

This paper is concerned with distributed containment maneuvering of second-order Multi-Input Multi-Output(MIMO)multi-agent systems with non-periodic communication and *** agent is subject to unmatched nonlinear dynamics and external ***-triggered containment maneuvering control methods is developed based on a modular ***,an estimator module is constructed based on neural networks and the nonperiodic obtained follower information through event-triggered ***,a controller module is designed by using the identified information from the estimator module and a third-order linear tracking *** event-triggered mechanism is introduced for updating the ***,a path update law is designed based on the non-periodic leader information through event-triggered *** closed-loop system cascaded by the estimation subsystem and control subsystem is proved to be input-to-state stable,and Zeno behavior is excluded in the control *** proposed method is capable of reducing the consumption of communication and actuation.A simulation example is provided to substantiate the effectiveness of the proposed event-triggered control method for distributed containment maneuvering of second-order MIMO multi-agent systems.

关键词： Containment maneuvering Event-triggered control Modular design Multi-agent system Neural network

Geochronological and geochemical constraints on the granitic gneiss in the Huozhou Complex: implications for the tectonic evolution of the Trans-North china Orogen

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Acta Geochimica 2023年第1期42卷 153-181页

作者： Chong peng Haiyan liu Ruiying zhang Cremilda Samuel Jofrisse linfu xue Baozhi Pan College of Geographical Sciences Shanxi Normal UniversityTaiyuan 030031China key laboratory of Deep-Earth dynamics of Ministry of Natural Resources Institute of GeologyChinese Academy of Geological SciencesBeijing 100037China state key laboratory of Continental dynamics Department of GeologyNorthwest UniversityXi’an 710069China College of Geo-Exploration Science and Technology Jilin UniversityChangchun 130026China College of Earth Sciences Jilin UniversityChangchun 130061China School of GeoSciences University of EdinburghEdinburgh EH93JWUK

The Trans-North china Orogen is a major Neoarchean Paleoproterozoic collisional orogenic belt above the North china Craton, formed due to prolonged and complex processes. Even though many NeoarcheanPaleoproterozoic magmatic and metamorphic activities have been reported, due to the Huozhou Complex’s small outcropping range, little attention has been paid to the origin of various igneous rocks of the Huozhou Complex in the center of the Trans-North china Orogen. The Huozhou Complex, located south of the Luè liang, Wutai, and Hengshan complexes, is an important window into the Early Precambrian structure and evolution of the North china Craton. Its magma and metamorphism are crucial to understanding the development of the structural evolution of the Trans-North china Orogen. The Huozhou metamorphic complex area exposes a range of Precambrian metamorphic rocks, among which the most extensively dispersed is felsic biotite plagioclase gneiss. In this study comprehensive geological field survey, micropetrology,chronology, geochemistry, and Hf isotope analysis were carried out for the Qinggangping and Anziping gneiss in the north of the Huozhou Complex. The results show that the magmatic zircon age of the Qinggangping gneiss is2196 ± 14 Ma, and its protolith is I-type granite, formed by partial melting of igneous rocks in the absence of weathering. Its source is mainly the juvenile crust from depleted mantle dating 2431–2719 Ma, with a small amount of mantle-derived material. The Anziping gneiss has a metamorphic zircon age of 1931 ± 13 Ma with an S-type granite protolith belonging to peraluminous *** Anziping gneiss is formed by recycling pre-existing crustal components at 2613–2848 Ma. A minor quantity of mantle-derived magma is also introduced to the crust simultaneously. The samples of Qinggangping gneiss and Anziping gneiss show the characteristics of obvious negative Nb, Ti, and P elements in the spider diagram of primitive mantle standardization. This implies

关键词： Zircon U–Pb dating Geochemistry Huozhou complex Trans-North china orogen Biotite plagioclase gneiss North china craton

基于车辆执行驱动能力的复杂路况速度规划及控制

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吉林大学学报（工学版） 2023年第3期53卷 643-652页

作者：王德军张凯然徐鹏顾添骠于文雅吉林大学汽车仿真与控制国家重点实验室长春130022 吉林大学通信工程学院长春130022

为解决复杂道路环境(大曲率、低附着)下满足安全性和高效性约束的车速规划问题,提出了一种基于车辆动力学解析的微分方程规划方法。首先,推导了在稳态转向时满足侧向轮胎力约束的极限速度结构参数表达式。其次,将前轮和后轮的轮胎力执... 详细信息

为解决复杂道路环境(大曲率、低附着)下满足安全性和高效性约束的车速规划问题,提出了一种基于车辆动力学解析的微分方程规划方法。首先,推导了在稳态转向时满足侧向轮胎力约束的极限速度结构参数表达式。其次,将前轮和后轮的轮胎力执行空间组合为F-F图,得到考虑载荷转移和驱动方式因素的隐式微分方程,并求解该微分方程得到沿路径的极限速度,同时给出了面向离散路径信息的极限速度计算方法。最后,设计了横、纵向协同模型预测控制器,搭建了CarSim和Simulink联合仿真平台,在连续和离散两种信息路径上以规划的极限速度进行轨迹跟踪仿真实验。结果表明,本文提出的极限速度规划方法能够在尽快完成复杂路面环境下轨迹跟踪任务的同时,将轮胎力控制在稳定摩擦圆范围内。

关键词：控制理论与控制工程极限速度轨迹跟踪 F-F图模型预测控制

涡轮增压汽油机气路预测模型的建立与预测控制（英文）

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控制理论与应用 2017年第8期34卷 1008-1018页

作者：陈欢胡云峰于树友孙鹏远陈虹吉林大学汽车仿真与控制重点实验室吉林长春130025 吉林大学通信工程学院吉林长春130025 中国一汽集团公司研究设计中心吉林长春130011

针对涡轮增压汽油机气路系统中节气门与废气旁通阀动力学耦合、机理建模复杂的问题,本文提出基于神经网络模型的气路系统预测控制方法,实现了节气门与废气旁通阀的协调控制.首先,针对涡轮增压汽油机气路系统map与机理混合描述的特性,利... 详细信息

针对涡轮增压汽油机气路系统中节气门与废气旁通阀动力学耦合、机理建模复杂的问题,本文提出基于神经网络模型的气路系统预测控制方法,实现了节气门与废气旁通阀的协调控制.首先,针对涡轮增压汽油机气路系统map与机理混合描述的特性,利用系统的输入输出数据,采用反向传播神经网络(back propagation neural network,BPNN)训练得到一个非线性气路模型;其次,基于泰勒展开式对预测模型进行线性化,并对模型的精度进行了验证,进而利用该模型预测系统的未来动态;然后,在考虑系统存在输入约束的条件下,设计了一个线性模型预测控制器对节气门与废气旁通阀进行协调控制,实现了进气歧管压力和升压的跟踪控制进而满足发动机的扭矩需求;最后,通过离线仿真和基于d SPACE的快速原型实验(rapid control prototyping,RCP)验证了控制系统的有效性和实时性.

关键词：涡轮增压汽油机控制模型预测控制预测模型 BP神经网络