针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模...针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模,并提出交互健康判别机制及“故障隔离”策略,结合分组分层控制框架提出故障条件下分组编队控制方案。然后,将故障模型与同步DMPC理论相结合,根据“故障隔离”策略,设计故障条件下的单组编队控制算法,并进一步根据控制方案给出分组编队控制算法,且基于Lyapunov理论证明控制算法下编队系统的稳定性。最后,通过仿真验证所设计算法在故障条件下的有效性和优越性。展开更多
在目标-攻击弹-防御弹群(target-attacker-defenders,TADs)系统中,防御弹群通过与目标(载机)异构协同、弹群间同构协同以保护载机并降低单弹脱靶的风险。针对TADs系统在二维平面下的协同主动防御模型进行了研究,采用机/弹协同和防御弹...在目标-攻击弹-防御弹群(target-attacker-defenders,TADs)系统中,防御弹群通过与目标(载机)异构协同、弹群间同构协同以保护载机并降低单弹脱靶的风险。针对TADs系统在二维平面下的协同主动防御模型进行了研究,采用机/弹协同和防御弹群协同的两层制导策略。在机弹协同方面,防御弹领弹与载机进行异构协同,考虑载机及防御弹领弹的机动能力限制,采用协同视线制导律(cooperative line of sight guidance,CLOSG)分别得到载机和防御弹领弹的制导指令;在防御弹群协同方面,考虑单弹计算能力约束,拦截时间约束和加速度约束,设计出基于分布式模型预测控制(distributed model predictive control,DMPC)的算法实现弹群从弹和防御弹领弹协同同时抵达并拦截攻击弹。仿真结果表明,多防御弹协同一致拦截制导算法能够实现TADs系统中载机和防御弹群的异构协同主动防御,并实现防御弹群的一致性同时拦截,以降低单弹脱靶的风险。展开更多
We have investigated the morphology of dimyristoyl phosphatidyl choline (DMPC)—cholesterol mixed monolayer formed on the water surface by dropping method using surface tension measurement (STm), Brewster angle micros...We have investigated the morphology of dimyristoyl phosphatidyl choline (DMPC)—cholesterol mixed monolayer formed on the water surface by dropping method using surface tension measurement (STm), Brewster angle microscopy (BAM), and infrared external reflection spectroscopy (IERS). STm results showed negative deviation of the limiting molecular area (A0) of cholesterol occurred when cholesterol was added to the DMPC monolayer. BAM images showed the expandable DMPC monolayer changed to the condensed rigid monolayer at more than cholesterol mole fraction (xChol) 0.4. IERS recordings showed that the addition of cholesterol at xChol = 0.4 occurred structural change from gauche- to trans- conformation of two DMPC molecule alkyl chains. From these results, it is found that cholesterol molecule has specific properties that cause structural transition of DMPC molecule alkyl chains.展开更多
The interactions of phospholipid monolayers (dipalmitoyl phosphatidyl choline;DPPC and dimyristoyl phosphatidyl choline;DMPC) with volatile anesthetic isoflurane were investigated using quartz crystal microbalance (QC...The interactions of phospholipid monolayers (dipalmitoyl phosphatidyl choline;DPPC and dimyristoyl phosphatidyl choline;DMPC) with volatile anesthetic isoflurane were investigated using quartz crystal microbalance (QCM) and quartz crystal impedance (QCI) methods. The quartz crystal oscillator was attached horizontally on the surface of DPPC and DMPC monolayer formed on the water surface. Physisorption of isoflurane hydrate at the DPPC monolayer surface was monitored in terms of frequency and resistance change of quartz crystal on addition of anesthetics isoflurane. Both frequency and resistance change showed the elastic nature of DPPC monolayer. Measurement of DMPC monolayer-isoflurane hydrate revealed the expandable nature of DMPC monolayer. Variation of frequency and impedance of DPPC and DMPC monolayer on addition of isoflurane which proved a two-step change has occurred at monolayer surface at isoflurane concentration of ≤8 mM that has been attributed to isoflurane aggregation at monolayer/water interface. Isoflurane hydrates formed in the process have capability to affect the interfacial properties of monolayer such as existence of structured water.展开更多
文摘针对故障条件下的多无人机分组编队控制问题,提出一种基于同步分布式模型预测控制(distributed model predictive control,DMPC)的分组编队控制算法。首先,建立考虑虚拟领导者的分组分层控制框架。接着,对编队中的不可恢复故障进行建模,并提出交互健康判别机制及“故障隔离”策略,结合分组分层控制框架提出故障条件下分组编队控制方案。然后,将故障模型与同步DMPC理论相结合,根据“故障隔离”策略,设计故障条件下的单组编队控制算法,并进一步根据控制方案给出分组编队控制算法,且基于Lyapunov理论证明控制算法下编队系统的稳定性。最后,通过仿真验证所设计算法在故障条件下的有效性和优越性。
文摘在目标-攻击弹-防御弹群(target-attacker-defenders,TADs)系统中,防御弹群通过与目标(载机)异构协同、弹群间同构协同以保护载机并降低单弹脱靶的风险。针对TADs系统在二维平面下的协同主动防御模型进行了研究,采用机/弹协同和防御弹群协同的两层制导策略。在机弹协同方面,防御弹领弹与载机进行异构协同,考虑载机及防御弹领弹的机动能力限制,采用协同视线制导律(cooperative line of sight guidance,CLOSG)分别得到载机和防御弹领弹的制导指令;在防御弹群协同方面,考虑单弹计算能力约束,拦截时间约束和加速度约束,设计出基于分布式模型预测控制(distributed model predictive control,DMPC)的算法实现弹群从弹和防御弹领弹协同同时抵达并拦截攻击弹。仿真结果表明,多防御弹协同一致拦截制导算法能够实现TADs系统中载机和防御弹群的异构协同主动防御,并实现防御弹群的一致性同时拦截,以降低单弹脱靶的风险。
文摘We have investigated the morphology of dimyristoyl phosphatidyl choline (DMPC)—cholesterol mixed monolayer formed on the water surface by dropping method using surface tension measurement (STm), Brewster angle microscopy (BAM), and infrared external reflection spectroscopy (IERS). STm results showed negative deviation of the limiting molecular area (A0) of cholesterol occurred when cholesterol was added to the DMPC monolayer. BAM images showed the expandable DMPC monolayer changed to the condensed rigid monolayer at more than cholesterol mole fraction (xChol) 0.4. IERS recordings showed that the addition of cholesterol at xChol = 0.4 occurred structural change from gauche- to trans- conformation of two DMPC molecule alkyl chains. From these results, it is found that cholesterol molecule has specific properties that cause structural transition of DMPC molecule alkyl chains.
文摘The interactions of phospholipid monolayers (dipalmitoyl phosphatidyl choline;DPPC and dimyristoyl phosphatidyl choline;DMPC) with volatile anesthetic isoflurane were investigated using quartz crystal microbalance (QCM) and quartz crystal impedance (QCI) methods. The quartz crystal oscillator was attached horizontally on the surface of DPPC and DMPC monolayer formed on the water surface. Physisorption of isoflurane hydrate at the DPPC monolayer surface was monitored in terms of frequency and resistance change of quartz crystal on addition of anesthetics isoflurane. Both frequency and resistance change showed the elastic nature of DPPC monolayer. Measurement of DMPC monolayer-isoflurane hydrate revealed the expandable nature of DMPC monolayer. Variation of frequency and impedance of DPPC and DMPC monolayer on addition of isoflurane which proved a two-step change has occurred at monolayer surface at isoflurane concentration of ≤8 mM that has been attributed to isoflurane aggregation at monolayer/water interface. Isoflurane hydrates formed in the process have capability to affect the interfacial properties of monolayer such as existence of structured water.
