The multi-satellite electromagnetic formation flight system is nonlinear and strongly coupled,which makes modeling and optimization challenging.To simplify electromagnetic force evaluation and dynamics modeling,we int...The multi-satellite electromagnetic formation flight system is nonlinear and strongly coupled,which makes modeling and optimization challenging.To simplify electromagnetic force evaluation and dynamics modeling,we introduce a reference frame consistent with each satellite body frame,in which the electromagnetic dipoles and electromagnetic forces are represented as two-dimensional vectors.Then,the maneuver time is divided into time intervals,and different satellite sets are activated in each interval,converting the multi-satellite formation reconfiguration problem into an optimal trajectory problem of each two-satellite subsystem.To this end,a token-based dynamic programming method with a switching penalty of active satellite sets is proposed to determine the sequence of satellite sets participating in each time interval,thereby enabling all satellites to reach their desired states.For the two-satellite subsystem with the objectives of minimizing maneuver time and energy consumption,the Gauss pseudo-spectral method is employed to generate the optimal reconfiguration trajectory.Numerical simulations verify the effectiveness of the proposed optimization method.展开更多
Geo-data is a foundation for the prediction and assessment of ore resources, so managing and making full use of those data, including geography database, geology database, mineral deposits database, aeromagnetics data...Geo-data is a foundation for the prediction and assessment of ore resources, so managing and making full use of those data, including geography database, geology database, mineral deposits database, aeromagnetics database, gravity database, geochemistry database and remote sensing database, is very significant. We developed national important mining zone database （NIMZDB） to manage 14 national important mining zone databases to support a new round prediction of ore deposit. We found that attention should be paid to the following issues： ① data accuracy： integrity, logic consistency, attribute, spatial and time accuracy; ② management of both attribute and spatial data in the same system;③ transforming data between MapGIS and ArcGIS; ④ data sharing and security; ⑤ data searches that can query both attribute and spatial data. Accuracy of input data is guaranteed and the search, analysis and translation of data between MapGIS and ArcGIS has been made convenient via the development of a checking data module and a managing data module based on MapGIS and ArcGIS. Using AreSDE, we based data sharing on a client/server system, and attribute and spatial data are also managed in the same system.展开更多
In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and lea...In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.展开更多
This paper investigates the problem of formation tracking control for multiple flight vehicle(MFV) system considering actuator saturation constraints. First, the formation tracking control model is established. Then, ...This paper investigates the problem of formation tracking control for multiple flight vehicle(MFV) system considering actuator saturation constraints. First, the formation tracking control model is established. Then, the problem of formation control of the MFV system is converted to the convergence of a dynamical system, which is obtained by using the differential geometry theory.A class of saturation functions is introduced, and on this basis a second-order finite-time formation control protocol is developed.With the help of the homogeneous theory and Lasalle's invariance principle, it is theoretically proved that the designed formation protocol could complete the formation task in finite time, and the control inputs are shown to remain within their available actuating limits. Finally, simulations are performed to verify the effectiveness of the scheme.展开更多
This paper considers nonlinear dynamics of teth- ered three-body formation system with their centre of mass staying on a circular orbit around the Earth, and applies the theory of space manifold dynamics to deal with ...This paper considers nonlinear dynamics of teth- ered three-body formation system with their centre of mass staying on a circular orbit around the Earth, and applies the theory of space manifold dynamics to deal with the nonlinear dynamical behaviors of the equilibrium configurations of the system. Compared with the classical circular restricted three body system, sixteen equilibrium configurations are obtained globally from the geometry of pseudo-potential energy sur- face, four of which were omitted in the previous research. The periodic Lyapunov orbits and their invariant manifolds near the hyperbolic equilibria are presented, and an iteration procedure for identifying Lyapunov orbit is proposed based on the differential correction algorithm. The non-transversal intersections between invariant manifolds are addressed to generate homoclinic and heteroclinic trajectories between the Lyapunov orbits. （3,3）- and （2,1）-heteroclinic trajecto- ries from the neighborhood of one collinear equilibrium to that of another one, and （3,6）- and （2,1）-homoclinic trajecto- ries from and to the neighborhood of the same equilibrium, are obtained based on the Poincar6 mapping technique.展开更多
In the Chinese character intelligent formation system without Chinese character library, it is possible that the same basic element in different Chinese characters is different in position, size and shape. The geometr...In the Chinese character intelligent formation system without Chinese character library, it is possible that the same basic element in different Chinese characters is different in position, size and shape. The geometry transformation from basic elements to the components of Chinese characters can be realized by affine transformation, the transformation knowledge acquisition is the premise of Chinese character intelligent formation. A novel algorithm is proposed to ac-quire the affine transformation knowledge of basic elements automatically in this paper. The interested region of Chi-nese character image is determined by the structure of the Chinese character. Scale invariant and location invariant of basic element and Chinese character image are extracted with SIFT features, the matching points of the two images are determined according to the principle of Minimum Euclidean distance of eigenvectors. Using corner points as identifi-cation features, calculating the one-way Hausdorff distance between corner points as the similarity measurement from the affine image to the Chinese character sub-image, affine coefficients are determined by optimal similarity. 70244 Chinese characters in National Standards GB18030-2005 character set are taken as the experimental object, all the characters are performed and the experimental courses and results are presented in this paper.展开更多
Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential f...Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential for executing sophisticated collective tasks.This paper presents a Distributed Formation Control and Obstacle Avoidance(DFCOA)framework for multi-unmanned ground vehicles(UGV).DFCOA integrates a virtual leader structure for global guidance,an improved A^(*)path planning algorithm with an advanced cost function for efficient path planning,and a repulsive-force-based improved vector field histogram star(VFH^(*))technique for collision avoidance.The virtual leader generates a reference trajectory while enabling distributed execution;the improved A^(*)algorithm reduces planning time and number of nodes to determine the shortest path from the starting position to the goal;and the improved VFH^(*)uses 2D LiDAR data with inter-agent repulsive force to simultaneously avoid collision with obstacles and maintain safe inter-vehicle distances.The formation stability of the proposed DFCOA reaches 95.8%and 94.6%in two scenarios,with root mean square(RMS)centroid errors of 0.9516 and 1.0008 m,respectively.Velocity tracking is precise(velocity centroid error RMS of 0.2699 and 0.1700 m/s),and linear velocities closely match the desired 0.3 m/s.Safety metrics showed average collision risks of 0.7773 and 0.5143,with minimum inter-vehicle distances of 0.4702 and 0.8763 m,confirming collision-free navigation of four UGVs.DFCOA outperforms conventional methods in formation stability,path efficiency,and scalability,proving its suitability for decentralized multi-UGV applications.展开更多
Guided by the analysis of source-to-sink system,this study investigates the Paleogene Oligocene Lingshui Formation in the Qiongdongnan Basin by comparing the geological characterizes in land and sea areas and integrat...Guided by the analysis of source-to-sink system,this study investigates the Paleogene Oligocene Lingshui Formation in the Qiongdongnan Basin by comparing the geological characterizes in land and sea areas and integrating outcrop,core,drilling,logging and 3D seismic data,to systematically analyze the characteristics of the source,transport pathway,and sink during the deposition of Lingshui Formation,and reveal the patterns,controlling factors and petroleum geologic significance of the source-to-sink systems.The results are obtained in five aspects.First,during the fault-depression transition,the Qiongdongnan Basin received sediments from the provenances presenting as segments in east-west and zones in north-south,primarily with the Indosinian granites in the Shenhu Uplift in the east and the Yanshanian granites in the west.Overall,the sources are young in the southern and northern parts and old in the interior of the basin.Second,three types of sediment transport pathways are identified:paleo-valleys,fault troughs and trough-valley transitional zones.Third,based on differences in sediment supply modes,the unique source-to-sink systems during the fault-depression transition in marine rift basins are categorized into three types:exogenous,endogenous and composite.Fourth,the characteristics of these source-to-sink systems are primarily controlled by provenance,paleogeomorphology,and sea-level changes.Provenance lithology and scale dictated the composition and volume of sedimentary deposits.Paleogeomorphology influenced erosion intensity in the provenance and the development of paleodrainage systems,thereby affecting the distribution and types of sedimentary systems.Additionally,sea-level changes decided the extent of the provenance,but also regulated the sediment distribution patterns through oceanic processes such as waves and tides.Fifth,the exogenous source-to-sink systems may form large-scale reservoir bodies,the endogenous systems develop secondary pores due to presence of soluble minerals,and the composite systems demonstrate reservoir properties varying from area to area.展开更多
The 7 ka old Qixiangzhan lava flow(QXZ,Tianchi volcano)represents the last eruptive event before the 946 CE,caldera-forming‘Millennium’eruption(ME).Petrographic,whole rock,mineral composition,Sr-Nd isotopic data on ...The 7 ka old Qixiangzhan lava flow(QXZ,Tianchi volcano)represents the last eruptive event before the 946 CE,caldera-forming‘Millennium’eruption(ME).Petrographic,whole rock,mineral composition,Sr-Nd isotopic data on QXZ show that:(a)the lava consists of two components,constituted by comenditic obsidian fragments immersed in a continuous,aphanitic component;(b)both components have the same geochemical and isotopic variations of the ME magma.The QXZ and ME comendites result from fractional crystallization and crustal assimilation processes.The temperature of the QXZ magma was about 790℃ and the depth of the magma reservoir around 7 km,the same values as estimated for ME.QXZ had a viscosity of 10^(5.5)-10^(9) Pa s and a velocity of 3-10 km/yr.The emplacement time was 0.5-1.6yr and the flow rate 0.48-1.50 m^(3)/s.These values lie within the range estimated for other rhyolitic flows worldwide.The QXZ lava originated through a mixed explosive-effusive activity with the obsidian resulting from the ascent of undercooling,degassing and the fragmentation of magma along the conduit walls,whereas the aphanitic component testifies to the less undercooled and segregated flow at the center of the conduit.The QXZ lava demonstrates the extensive history of the ME magma chamber.展开更多
As mining activities expand deeper,deep high-temperature formations seriously threaten the future safe exploitation,while deep geothermal energy has great potential for development.Combining the formation cooling and ...As mining activities expand deeper,deep high-temperature formations seriously threaten the future safe exploitation,while deep geothermal energy has great potential for development.Combining the formation cooling and geothermal mining in mines to establish a thermos-hydraulic coupling numerical model for fractured formation.The study investigates the formation heat transfer behaviour,heat recovery performance and thermal economic benefits influenced during the life cycle.The results show that the accumulation of cold energy during the cold storage phase induces a decline in formation temperature.The heat recovery phase is determined by the extent of the initial cold domain,which contracts inward from the edge and decelerates the heat recovery rate gradually.With groundwater velocity increases,the thermal regulation efficiency gradually increases,the production temperature decreases,while the effective radius and thermal power increase first and then decrease.The injected volume and temperature significantly affect,with higher injection temperatures slowing thermal recovery,and the thermal regulation efficiency is more sensitive to changes in formation permeability and thermal conductivity.The heat extraction performance is positively correlated with all factors.The levelized cost of electricity is estimated at 0.1203$/(kW·h)during the cold storage.During the heat recovery,annual profit is primarily driven by cooling benefits.展开更多
Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distribut...Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.展开更多
During the production of natural gas hydrates,micron-sized sand particles coexist with hydrate within the transportation pipeline,posing a significant threat to the safety of pipeline flow.However,the influence of san...During the production of natural gas hydrates,micron-sized sand particles coexist with hydrate within the transportation pipeline,posing a significant threat to the safety of pipeline flow.However,the influence of sand particles on hydrate formation mechanisms and rheological properties remains poorly understood.Consequently,using a high-pressure reactor system,the phase equilibrium conditions,hydrate formation characteristics,hydrate concentration,and the slurry viscosity in micron-sized sand system are investigated in this work.Furthermore,the effects of sand particle size,sand concentration,and initial pressure on these properties are analyzed.The results indicate that a high concentration of micron-sized sand particles enhances the formation of methane hydrates.When the volume fraction of sand particles exceeds or equals 3%,the phase equilibrium conditions of the methane hydrate shift to the left relative to that of the pure water system(lower temperature,higher pressure).This shift becomes more pronounced with smaller particle sizes.Besides,under these sand concentration conditions,methane hydrates exhibit secondary or even multiple formation events,though the formation rate decreases.Additionally,the torque increases significantly and fluctuates considerably.The Roscoe-Brinkman model yields the most accurate slurry viscosity calculations,and as sand concentration increases,both hydrate concentration and slurry viscosity also increase.展开更多
This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control s...This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.展开更多
Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so...Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.展开更多
Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under dir...Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.展开更多
An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and coll...An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.展开更多
In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–d...In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–dual dynamics and the adaptive control technique,a distributed optimal formation controller consists of a velocity reference signal generator and a velocity tracking controller is proposed.By using the optimality condition,the relationship between the equilibrium point of the closed-loop system and the optimal solution of the optimization problem is established.Then,by utilizing Lyapunov stability analysis,it is rigorously proved that the optimal formation is reached with the proposed controller.Lastly,simulation examples are provided to substantiate the theoretical results.展开更多
Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived f...Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
The accumulation and circulation of carbon and hydrogen contribute to the chemical evolution of ice giant planets.Species separation and diamond precipitation have been reported in carbon-hydrogen systems and have bee...The accumulation and circulation of carbon and hydrogen contribute to the chemical evolution of ice giant planets.Species separation and diamond precipitation have been reported in carbon-hydrogen systems and have been verified by static and shock compression experiments.Nevertheless,the dynamic formation processes underlying these phenomena remain insufficiently understood.In combination with a deep learning model,we demonstrate that diamonds form through a three-step process involving dissociation,species separation,and nucleation processes.Under shock conditions of 125 GPa and 4590 K,hydrocarbons decompose to give hydrogen and low-molecular-weight alkanes(CH_(4) and C_(2)H_(6)),which escape from the carbon chains,resulting in C/H species separation.The remaining carbon atoms without C-H bonds accumulate and nucleate to form diamond crystals.The process of diamond growth is associated with a critical nucleus size at which the dynamic energy barrier plays a key role.These dynamic processes of diamond formation provide insight into the establishment of a model for the evolution of ice giant planets.展开更多
文摘The multi-satellite electromagnetic formation flight system is nonlinear and strongly coupled,which makes modeling and optimization challenging.To simplify electromagnetic force evaluation and dynamics modeling,we introduce a reference frame consistent with each satellite body frame,in which the electromagnetic dipoles and electromagnetic forces are represented as two-dimensional vectors.Then,the maneuver time is divided into time intervals,and different satellite sets are activated in each interval,converting the multi-satellite formation reconfiguration problem into an optimal trajectory problem of each two-satellite subsystem.To this end,a token-based dynamic programming method with a switching penalty of active satellite sets is proposed to determine the sequence of satellite sets participating in each time interval,thereby enabling all satellites to reach their desired states.For the two-satellite subsystem with the objectives of minimizing maneuver time and energy consumption,the Gauss pseudo-spectral method is employed to generate the optimal reconfiguration trajectory.Numerical simulations verify the effectiveness of the proposed optimization method.
基金This paper is financially supported by the National I mportant MiningZone Database ( No .200210000004)Prediction and Assessment ofMineral Resources and Social Service (No .1212010331402) .
文摘Geo-data is a foundation for the prediction and assessment of ore resources, so managing and making full use of those data, including geography database, geology database, mineral deposits database, aeromagnetics database, gravity database, geochemistry database and remote sensing database, is very significant. We developed national important mining zone database （NIMZDB） to manage 14 national important mining zone databases to support a new round prediction of ore deposit. We found that attention should be paid to the following issues： ① data accuracy： integrity, logic consistency, attribute, spatial and time accuracy; ② management of both attribute and spatial data in the same system;③ transforming data between MapGIS and ArcGIS; ④ data sharing and security; ⑤ data searches that can query both attribute and spatial data. Accuracy of input data is guaranteed and the search, analysis and translation of data between MapGIS and ArcGIS has been made convenient via the development of a checking data module and a managing data module based on MapGIS and ArcGIS. Using AreSDE, we based data sharing on a client/server system, and attribute and spatial data are also managed in the same system.
基金supported in part by the National Natural Science Foundation of China (62033009)the Creative Activity Plan for Science and Technology Commission of Shanghai (20510712300,21DZ2293500)the Supported by Science Foundation of Donghai Laboratory。
文摘In this paper, the fixed-time event-triggered obstacle avoidance consensus control for a multi-AUV time-varying formation system in a 3D environment is presented by using an improved artificial potential field and leader-follower strategy(IAPF-LF). Firstly, the proposed fixed-time control can achieve the desired multi-AUV formation within a fixed settling time in any initial system state. Secondly, an event-triggered communication strategy is developed to govern the communication among AUVs, and the communication energy consumption can be decremented. The time-varying formation obstacle avoidance control algorithm based on IAPF-LF is designed to avoid static and dynamic obstacles, the desired formation is maintained in the presence of external disturbances, and there is no Zeno behavior under the fixed-time event-triggered consensus control strategy.The stability of the system is proved by the Lyapunov function and inequality scaling. Finally, simulation examples and water pool experiments are reported to verify the performance of the proposed theoretical algorithms.
基金supported by the National Natural Science Foundation of China (61903099)the Natural Science Foundation of Heilongjiang Province (LH2020F025)the Fundamental Research Funds for the Central Universities (3072020CF0406)。
文摘This paper investigates the problem of formation tracking control for multiple flight vehicle(MFV) system considering actuator saturation constraints. First, the formation tracking control model is established. Then, the problem of formation control of the MFV system is converted to the convergence of a dynamical system, which is obtained by using the differential geometry theory.A class of saturation functions is introduced, and on this basis a second-order finite-time formation control protocol is developed.With the help of the homogeneous theory and Lasalle's invariance principle, it is theoretically proved that the designed formation protocol could complete the formation task in finite time, and the control inputs are shown to remain within their available actuating limits. Finally, simulations are performed to verify the effectiveness of the scheme.
基金supported by the National Natural Science Foundation of China(11172020)Talent Foundation supported by the Fundamental Research Funds for the Central Universities+1 种基金Aerospace Science and Technology Innovation Foundation of China Aerospace Science Corporationthe National High Technology Research and Development Program of China(863)(2012AA120601)
文摘This paper considers nonlinear dynamics of teth- ered three-body formation system with their centre of mass staying on a circular orbit around the Earth, and applies the theory of space manifold dynamics to deal with the nonlinear dynamical behaviors of the equilibrium configurations of the system. Compared with the classical circular restricted three body system, sixteen equilibrium configurations are obtained globally from the geometry of pseudo-potential energy sur- face, four of which were omitted in the previous research. The periodic Lyapunov orbits and their invariant manifolds near the hyperbolic equilibria are presented, and an iteration procedure for identifying Lyapunov orbit is proposed based on the differential correction algorithm. The non-transversal intersections between invariant manifolds are addressed to generate homoclinic and heteroclinic trajectories between the Lyapunov orbits. （3,3）- and （2,1）-heteroclinic trajecto- ries from the neighborhood of one collinear equilibrium to that of another one, and （3,6）- and （2,1）-homoclinic trajecto- ries from and to the neighborhood of the same equilibrium, are obtained based on the Poincar6 mapping technique.
文摘In the Chinese character intelligent formation system without Chinese character library, it is possible that the same basic element in different Chinese characters is different in position, size and shape. The geometry transformation from basic elements to the components of Chinese characters can be realized by affine transformation, the transformation knowledge acquisition is the premise of Chinese character intelligent formation. A novel algorithm is proposed to ac-quire the affine transformation knowledge of basic elements automatically in this paper. The interested region of Chi-nese character image is determined by the structure of the Chinese character. Scale invariant and location invariant of basic element and Chinese character image are extracted with SIFT features, the matching points of the two images are determined according to the principle of Minimum Euclidean distance of eigenvectors. Using corner points as identifi-cation features, calculating the one-way Hausdorff distance between corner points as the similarity measurement from the affine image to the Chinese character sub-image, affine coefficients are determined by optimal similarity. 70244 Chinese characters in National Standards GB18030-2005 character set are taken as the experimental object, all the characters are performed and the experimental courses and results are presented in this paper.
文摘Researchers are increasingly focused on enabling groups of multiple unmanned vehicles to operate cohesively in complex,real-world environments,where coordinated formation control and obstacle avoidance are essential for executing sophisticated collective tasks.This paper presents a Distributed Formation Control and Obstacle Avoidance(DFCOA)framework for multi-unmanned ground vehicles(UGV).DFCOA integrates a virtual leader structure for global guidance,an improved A^(*)path planning algorithm with an advanced cost function for efficient path planning,and a repulsive-force-based improved vector field histogram star(VFH^(*))technique for collision avoidance.The virtual leader generates a reference trajectory while enabling distributed execution;the improved A^(*)algorithm reduces planning time and number of nodes to determine the shortest path from the starting position to the goal;and the improved VFH^(*)uses 2D LiDAR data with inter-agent repulsive force to simultaneously avoid collision with obstacles and maintain safe inter-vehicle distances.The formation stability of the proposed DFCOA reaches 95.8%and 94.6%in two scenarios,with root mean square(RMS)centroid errors of 0.9516 and 1.0008 m,respectively.Velocity tracking is precise(velocity centroid error RMS of 0.2699 and 0.1700 m/s),and linear velocities closely match the desired 0.3 m/s.Safety metrics showed average collision risks of 0.7773 and 0.5143,with minimum inter-vehicle distances of 0.4702 and 0.8763 m,confirming collision-free navigation of four UGVs.DFCOA outperforms conventional methods in formation stability,path efficiency,and scalability,proving its suitability for decentralized multi-UGV applications.
基金Supported by National Natural Science Foundation of China Enterprise Joint Fund Project(U24B200849)National Natural Science Foundation of China(91528303).
文摘Guided by the analysis of source-to-sink system,this study investigates the Paleogene Oligocene Lingshui Formation in the Qiongdongnan Basin by comparing the geological characterizes in land and sea areas and integrating outcrop,core,drilling,logging and 3D seismic data,to systematically analyze the characteristics of the source,transport pathway,and sink during the deposition of Lingshui Formation,and reveal the patterns,controlling factors and petroleum geologic significance of the source-to-sink systems.The results are obtained in five aspects.First,during the fault-depression transition,the Qiongdongnan Basin received sediments from the provenances presenting as segments in east-west and zones in north-south,primarily with the Indosinian granites in the Shenhu Uplift in the east and the Yanshanian granites in the west.Overall,the sources are young in the southern and northern parts and old in the interior of the basin.Second,three types of sediment transport pathways are identified:paleo-valleys,fault troughs and trough-valley transitional zones.Third,based on differences in sediment supply modes,the unique source-to-sink systems during the fault-depression transition in marine rift basins are categorized into three types:exogenous,endogenous and composite.Fourth,the characteristics of these source-to-sink systems are primarily controlled by provenance,paleogeomorphology,and sea-level changes.Provenance lithology and scale dictated the composition and volume of sedimentary deposits.Paleogeomorphology influenced erosion intensity in the provenance and the development of paleodrainage systems,thereby affecting the distribution and types of sedimentary systems.Additionally,sea-level changes decided the extent of the provenance,but also regulated the sediment distribution patterns through oceanic processes such as waves and tides.Fifth,the exogenous source-to-sink systems may form large-scale reservoir bodies,the endogenous systems develop secondary pores due to presence of soluble minerals,and the composite systems demonstrate reservoir properties varying from area to area.
基金funded by the National Natural Science Foundation of China(Grant Nos.41972313 and 41790453)the Engineering Research Center of Geothermal Resources Development Technology and Equipment,Ministry of Education,Jilin University。
文摘The 7 ka old Qixiangzhan lava flow(QXZ,Tianchi volcano)represents the last eruptive event before the 946 CE,caldera-forming‘Millennium’eruption(ME).Petrographic,whole rock,mineral composition,Sr-Nd isotopic data on QXZ show that:(a)the lava consists of two components,constituted by comenditic obsidian fragments immersed in a continuous,aphanitic component;(b)both components have the same geochemical and isotopic variations of the ME magma.The QXZ and ME comendites result from fractional crystallization and crustal assimilation processes.The temperature of the QXZ magma was about 790℃ and the depth of the magma reservoir around 7 km,the same values as estimated for ME.QXZ had a viscosity of 10^(5.5)-10^(9) Pa s and a velocity of 3-10 km/yr.The emplacement time was 0.5-1.6yr and the flow rate 0.48-1.50 m^(3)/s.These values lie within the range estimated for other rhyolitic flows worldwide.The QXZ lava originated through a mixed explosive-effusive activity with the obsidian resulting from the ascent of undercooling,degassing and the fragmentation of magma along the conduit walls,whereas the aphanitic component testifies to the less undercooled and segregated flow at the center of the conduit.The QXZ lava demonstrates the extensive history of the ME magma chamber.
基金financial support from the National Natural Science Foundation of China(Nos.52434006,52374151,and 51927808)。
文摘As mining activities expand deeper,deep high-temperature formations seriously threaten the future safe exploitation,while deep geothermal energy has great potential for development.Combining the formation cooling and geothermal mining in mines to establish a thermos-hydraulic coupling numerical model for fractured formation.The study investigates the formation heat transfer behaviour,heat recovery performance and thermal economic benefits influenced during the life cycle.The results show that the accumulation of cold energy during the cold storage phase induces a decline in formation temperature.The heat recovery phase is determined by the extent of the initial cold domain,which contracts inward from the edge and decelerates the heat recovery rate gradually.With groundwater velocity increases,the thermal regulation efficiency gradually increases,the production temperature decreases,while the effective radius and thermal power increase first and then decrease.The injected volume and temperature significantly affect,with higher injection temperatures slowing thermal recovery,and the thermal regulation efficiency is more sensitive to changes in formation permeability and thermal conductivity.The heat extraction performance is positively correlated with all factors.The levelized cost of electricity is estimated at 0.1203$/(kW·h)during the cold storage.During the heat recovery,annual profit is primarily driven by cooling benefits.
基金supported in part by the National Natural Science Foundation of China under Grant 6237319in part by the Postgraduate Research and Practice Innovation Program of Jiangsu Province under Grant KYCX230479.
文摘Formation control in multi-agent systems has become a critical area of interest due to its wide-ranging applications in robotics,autonomous transportation,and surveillance.While various studies have explored distributed cooperative control,this review focuses on the theoretical foundations and recent developments in formation control strategies.The paper categorizes and analyzes key formation types,including formation maintenance,group or cluster formation,bipartite formations,event-triggered formations,finite-time convergence,and constrained formations.A significant portion of the review addresses formation control under constrained dynamics,presenting both modelbased and model-free approaches that consider practical limitations such as actuator bounds,communication delays,and nonholonomic constraints.Additionally,the paper discusses emerging trends,including the integration of eventdriven mechanisms and AI-enhanced coordination strategies.Comparative evaluations highlight the trade-offs among various methodologies regarding scalability,robustness,and real-world feasibility.Practical implementations are reviewed across diverse platforms,and the review identifies the current achievements and unresolved challenges in the field.The paper concludes by outlining promising research directions,such as adaptive control for dynamic environments,energy-efficient coordination,and using learning-based control under uncertainty.This review synthesizes the current state of the art and provides a road map for future investigation,making it a valuable reference for researchers and practitioners aiming to advance formation control in multi-agent systems.
基金supported by the Natural Science Starting Project of Sichuan Provincial Youth Foundation Project(2025ZNSFSC1356)Southwest Petroleum University,China(2023QHZ019)+1 种基金General Project of the Sichuan Provincial Natural Science Foundation,China(24NSFSC1295)Open fund of Dazhou Industrial Technology Institute of Intelligent Manufacturing,China(ZNZZ2215).
文摘During the production of natural gas hydrates,micron-sized sand particles coexist with hydrate within the transportation pipeline,posing a significant threat to the safety of pipeline flow.However,the influence of sand particles on hydrate formation mechanisms and rheological properties remains poorly understood.Consequently,using a high-pressure reactor system,the phase equilibrium conditions,hydrate formation characteristics,hydrate concentration,and the slurry viscosity in micron-sized sand system are investigated in this work.Furthermore,the effects of sand particle size,sand concentration,and initial pressure on these properties are analyzed.The results indicate that a high concentration of micron-sized sand particles enhances the formation of methane hydrates.When the volume fraction of sand particles exceeds or equals 3%,the phase equilibrium conditions of the methane hydrate shift to the left relative to that of the pure water system(lower temperature,higher pressure).This shift becomes more pronounced with smaller particle sizes.Besides,under these sand concentration conditions,methane hydrates exhibit secondary or even multiple formation events,though the formation rate decreases.Additionally,the torque increases significantly and fluctuates considerably.The Roscoe-Brinkman model yields the most accurate slurry viscosity calculations,and as sand concentration increases,both hydrate concentration and slurry viscosity also increase.
文摘This article investigates the time-varying output group formation tracking control(GFTC)problem for heterogeneous multi-agent systems(HMASs)under switching topologies.The objective is to design a distributed control strategy that enables the outputs of the followers to form the desired sub-formations and track the outputs of the leader in each subgroup.Firstly,novel distributed observers are developed to estimate the states of the leaders under switching topologies.Then,GFTC protocols are designed based on the proposed observers.It is shown that with the distributed protocol,the GFTC problem for HMASs under switching topologies is solved if the average dwell time associated with the switching topologies is larger than a fixed threshold.Finally,an example is provided to illustrate the effectiveness of the proposed control strategy.
基金supported in part by the National Natural Science Foundation of China(62273255,62350003,62088101)the Shanghai Science and Technology Cooperation Project(22510712000,21550760900)+1 种基金the Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities
文摘Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems.
基金supported by the National Natural Science Foundation of China(62073113,62003122,62303148)the Fundamental Research Funds for the Central Universities(MCCSE2023A01,JZ2023HGTA0201,JZ2023HGQA0109)the Anhui Provincial Natural Science Foundation(2308085QF204)
文摘Dear Editor,This letter considers the formation control of multiple mobile robot systems(MMRS)that only relies on the local observation information.A new distributed finite-time observer is proposed for MMRS under directed graph to estimate the relative information between each follower robot and the leader robot.Then the formation control problem is transformed into the tracking problem and a finite-time tracking controller is proposed based on the robot model feature.
基金founded by the National Science and Technology Council of the Republic of China under contract NSTC113-2221-E-019-032.
文摘An Interval Type-2(IT-2)fuzzy controller design approach is proposed in this research to simultaneously achievemultiple control objectives inNonlinearMulti-Agent Systems(NMASs),including formation,containment,and collision avoidance.However,inherent nonlinearities and uncertainties present in practical control systems contribute to the challenge of achieving precise control performance.Based on the IT-2 Takagi-Sugeno Fuzzy Model(T-SFM),the fuzzy control approach can offer a more effective solution for NMASs facing uncertainties.Unlike existing control methods for NMASs,the Formation and Containment(F-and-C)control problem with collision avoidance capability under uncertainties based on the IT-2 T-SFM is discussed for the first time.Moreover,an IT-2 fuzzy tracking control approach is proposed to solve the formation task for leaders in NMASs without requiring communication.This control scheme makes the design process of the IT-2 fuzzy Formation Controller(FC)more straightforward and effective.According to the communication interaction protocol,the IT-2 Containment Controller(CC)design approach is proposed for followers to ensure convergence into the region defined by the leaders.Leveraging the IT-2 T-SFM representation,the analysis methods developed for linear Multi-Agent Systems(MASs)are successfully extended to perform containment analysis without requiring the additional assumptions imposed in existing research.Notably,the IT-2 fuzzy tracking controller can also be applied in collision avoidance situations to track the desired trajectories calculated by the avoidance algorithm under the Artificial Potential Field(APF).Benefiting from the combination of vortex and source APFs,the leaders can properly adjust the system dynamics to prevent potential collision risk.Integrating the fuzzy theory and APFs avoidance algorithm,an IT-2 fuzzy controller design approach is proposed to achieve the F-and-C purposewhile ensuring collision avoidance capability.Finally,amulti-ship simulation is conducted to validate the feasibility and effectiveness of the designed IT-2 fuzzy controller.
基金supported in part by the National Key Research and Development Program of China under Grant 2022YFB3303900in part by the National Natural Science Foundation of China under Grants 62103277 and 62025305。
文摘In this paper,the distributed optimal formation control problem of heterogeneous Euler–Lagrange multi-agent systems with generic formation constraints and inequality constraints is investigated.Based on the primal–dual dynamics and the adaptive control technique,a distributed optimal formation controller consists of a velocity reference signal generator and a velocity tracking controller is proposed.By using the optimality condition,the relationship between the equilibrium point of the closed-loop system and the optimal solution of the optimization problem is established.Then,by utilizing Lyapunov stability analysis,it is rigorously proved that the optimal formation is reached with the proposed controller.Lastly,simulation examples are provided to substantiate the theoretical results.
基金supported by the National Natural Science Foundation of China(62373162,U24A20268,624B2055)the Shenzhen Science and Technology Program(JCYJ 20240813114007010)the Knowledge Innovation Program of Wuhan-Basic Research(2023010201010100).
文摘Dear Editor,This letter addresses the robust predefined-time control challenge for leaderless optimal formation in networked mobile vehicle(NMV)systems.The aim is to minimize a composite global cost function derived from individual strongly convex functions of each agent,considering both input disturbances and network communication constraints.A novel predefined-time optimal formation control(PTOFC)algorithm is presented,ensuring agent state convergence to optimal formation positions within an adjustable settling time.Through the integration of an integral sliding mode technique,disturbances are effectively countered.A representative numerical example highlights the effectiveness and robustness of the developed approach.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
基金supported by the National Natural Science Foundation of China(Grant Nos.12534013,12047561,and 12104507)the Science and Technology Innovation Program of Hunan Province(Grant Nos.2025ZYJ001 and 2021RC4026)the National University of Defense Technology Research Fund Project.
文摘The accumulation and circulation of carbon and hydrogen contribute to the chemical evolution of ice giant planets.Species separation and diamond precipitation have been reported in carbon-hydrogen systems and have been verified by static and shock compression experiments.Nevertheless,the dynamic formation processes underlying these phenomena remain insufficiently understood.In combination with a deep learning model,we demonstrate that diamonds form through a three-step process involving dissociation,species separation,and nucleation processes.Under shock conditions of 125 GPa and 4590 K,hydrocarbons decompose to give hydrogen and low-molecular-weight alkanes(CH_(4) and C_(2)H_(6)),which escape from the carbon chains,resulting in C/H species separation.The remaining carbon atoms without C-H bonds accumulate and nucleate to form diamond crystals.The process of diamond growth is associated with a critical nucleus size at which the dynamic energy barrier plays a key role.These dynamic processes of diamond formation provide insight into the establishment of a model for the evolution of ice giant planets.
