This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is gro...This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.展开更多
Purpose To complement and ensure redundancy in the endcap muon system of the Compact Muon Solenoid(CMS)detector and to extend the Resistive Plate Chamber(RPC)system coverage,improved RPCs(iRPCs)with either orthogonal ...Purpose To complement and ensure redundancy in the endcap muon system of the Compact Muon Solenoid(CMS)detector and to extend the Resistive Plate Chamber(RPC)system coverage,improved RPCs(iRPCs)with either orthogonal layer strips with one-end electronics or single layer strips with two-end electronics providing more precise time measurement will be installed in the very forward pseudorapidity region of|η|<2.4.The iRPC readout system needs to support twodimensional(2D)or two-end readout.In addition,it must combine detector data with Timing,Trigger and fast Control(TTC)and Slow Control(SC)into one data stream over a bi-directional optical link with a line rate of 4.8 Gb/s between the Front-End Electronics(FEE)and the Back-End Electronics(BEE).To fulfill these requirements,a prototype BEE for the iRPC 2D chamber has been researched and designed.Methods A Micro-Telecommunication and Computing Architecture(μTCA)-based processing card was designed in this study to establish a prototype system together with aμTCA crate.The Giga-Bit Transceiver(GBT)protocol is integrated to provide bi-directional communication between the FEE and BEE.A server is connected with the BEE by a Gigabit Ethernet(GbE)link for SC and a 10-GbE link for Data AcQuisition(DAQ).Results The Bit Error Rate(BER)test of the back-end board and a joint test with the iRPC 2D prototype chamber were performed.ABERof less than 1.331×10−16 was obtained.The timemeasurement with a resolution of 3.05 nswas successfully realized,and detector efficiencies of 97.7%for longitudinal strips and 96.0%for orthogonal strips were measured.Test results demonstrate the correctness and reliability of the prototype BEE.Conclusion The BEE prototype satisfies the requirements for the iRPC 2D chamber,and it worked stably and reliably during a long-term joint test run.展开更多
The astrophysical S-factor of the 4He＋12C radiative capture is calculated in the potential model at the energy range 0.1-2.0 MeV. Radiative capture 12C（α,γ） 16O is extremely relevant for the fate of massive stars...The astrophysical S-factor of the 4He＋12C radiative capture is calculated in the potential model at the energy range 0.1-2.0 MeV. Radiative capture 12C（α,γ） 16O is extremely relevant for the fate of massive stars and determines if the remnant of a supernova explosion becomes a black hole or a neutron star. Because this reaction occurs at low energies, the experimental measurements are very difficult and perhaps impossible. In this paper, radiative capture of the 12C（α,γ） 16O reaction at very low energies is taken as a case study. In comparison with other theoretical methods and available experimental data, good agreement is achieved for the astrophysical S-factor of this process.展开更多
文摘This paper presents a novel observer-based controller for a class of nonlinear multi-agent robot models using the high order sliding mode consensus protocol. In many applications, demand for autonomous vehicles is growing;omnidirectional wheeled robots are suggested to meet this demand. They are flexible, fast, and autonomous, able to find the best direction and can move on an optional path at any time. Multi-agent omnidirectional wheeled robot(MOWR) systems consist of several similar or different robots and there are multiple different interactions between their agents, thus the MOWR systems have complex dynamics. Hence, designing a robust reliable controller for the nonlinear MOWR operations is considered an important obstacles in the science of the control design. A high order sliding mode is selected in this work that is a suitable technique for implementing a robust controller for nonlinear complex dynamics models. Furthermore, the proposed method ensures all signals involved in the multi-agent system(MAS) are uniformly ultimately bounded and the system is robust against the external disturbances and uncertainties. Theoretical analysis of candidate Lyapunov functions has been presented to depict the stability of the overall MAS, the convergence of observer and tracking error to zero, and the reduction of the chattering phenomena. In order to illustrate the promising performance of the methodology, the observer is applied to two nonlinear dynamic omnidirectional wheeled robots. The results display the meritorious performance of the scheme.
基金the National Key Programme for S&T Research and Development(Grant NO.:2016YFA0400104)the National Natural Science Foundation of China(No.12035018)the IHEP Innovation Fund(Y9545150U2).
文摘Purpose To complement and ensure redundancy in the endcap muon system of the Compact Muon Solenoid(CMS)detector and to extend the Resistive Plate Chamber(RPC)system coverage,improved RPCs(iRPCs)with either orthogonal layer strips with one-end electronics or single layer strips with two-end electronics providing more precise time measurement will be installed in the very forward pseudorapidity region of|η|<2.4.The iRPC readout system needs to support twodimensional(2D)or two-end readout.In addition,it must combine detector data with Timing,Trigger and fast Control(TTC)and Slow Control(SC)into one data stream over a bi-directional optical link with a line rate of 4.8 Gb/s between the Front-End Electronics(FEE)and the Back-End Electronics(BEE).To fulfill these requirements,a prototype BEE for the iRPC 2D chamber has been researched and designed.Methods A Micro-Telecommunication and Computing Architecture(μTCA)-based processing card was designed in this study to establish a prototype system together with aμTCA crate.The Giga-Bit Transceiver(GBT)protocol is integrated to provide bi-directional communication between the FEE and BEE.A server is connected with the BEE by a Gigabit Ethernet(GbE)link for SC and a 10-GbE link for Data AcQuisition(DAQ).Results The Bit Error Rate(BER)test of the back-end board and a joint test with the iRPC 2D prototype chamber were performed.ABERof less than 1.331×10−16 was obtained.The timemeasurement with a resolution of 3.05 nswas successfully realized,and detector efficiencies of 97.7%for longitudinal strips and 96.0%for orthogonal strips were measured.Test results demonstrate the correctness and reliability of the prototype BEE.Conclusion The BEE prototype satisfies the requirements for the iRPC 2D chamber,and it worked stably and reliably during a long-term joint test run.
文摘The astrophysical S-factor of the 4He＋12C radiative capture is calculated in the potential model at the energy range 0.1-2.0 MeV. Radiative capture 12C（α,γ） 16O is extremely relevant for the fate of massive stars and determines if the remnant of a supernova explosion becomes a black hole or a neutron star. Because this reaction occurs at low energies, the experimental measurements are very difficult and perhaps impossible. In this paper, radiative capture of the 12C（α,γ） 16O reaction at very low energies is taken as a case study. In comparison with other theoretical methods and available experimental data, good agreement is achieved for the astrophysical S-factor of this process.
