In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integr...In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.展开更多
This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanis...This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.展开更多
This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an ...This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.展开更多
Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper ...Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper proposes an Adaptive Terminal Sliding Combined Super TwistingControl(ATS-STC)method to address the issues of low precision,slow convergence,and poor dis-turbance rejection capability resulting from external disturbances,such as carrier air-wake and deckmotion.By introducing a nonlinear term into the sliding surface and employing an integralapproach,the proposed ATS-STC method can ensure finite-time convergence and mitigate the chat-tering problem.An adaptive law is also utilized to estimate the external disturbances,therebyenhancing the anti-disturbance performance.Then,the stability and convergence time analysis ofthe designed controller are conducted.Based on the proposed method,an Automatic Carrier Land-ing System(ACLS)is developed to perform the carrier landing control task.Furthermore,a multi-dimensional validation is carried out.For the numerical simulation test,the Terminal Sliding ModeControl(TSMC)method and Proportion Integration Differentiation(PID)method are introducedas comparison,the quantitative assessment results show that the tracking error of TSMC and PIDcan reach 1.5 times and 2 times that of the proposed method.Finally,the Hardware-in-the-Loop(HIL)test and real flight test are conducted.All the experimental results demonstrate that the pro-posed control method is more effective and precise.展开更多
The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of ...The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of active supports,particularly the oxygen vacancy(O_(v)),in modulating C-H bond carboxylation remains unknown.Herein,ultra-small silver clusters and morphologically engineered CeO_(2) support(nanorods,nanocubes,and nano particles)were employed to construct Ag cluster/O_(v) synergistic catalyst,which exhibits variations in Oy concentration by an in situ auto-reduction method.The 0.197%Ag/CeO_(2)-NR catalyst exhibited a high reaction rate for the phenylacetylene carboxylation reaction and the maximal silver utilization efficiency.The characterization and DFT calculations demonstrated that vacancies enhanced CO_(2) adsorption via polarization-induced molecular bending and C-O bond elongation.Positively charged Ag clusters induced by metal-support interactions serve as deprotonation activation centers for alkynes.This synergistic interplay between dual active sites efficiently facilitates the C(sp)-H carboxylation with CO_(2).These findings offer critical insights for the rational selection of active supports in designing efficient C-H carboxylation catalysts.展开更多
To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt b...To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt by physical property index,microscopic morphology,rheological testing,and infrared spectroscopy on multiple scales.The results show that the best preparation process for TB-modified asphalt is stirring at 260℃ for 4 h at 400 rpm,which significantly reduces the modification time of the asphalt.From a physical property viewpoint,the TB composite-modified asphalt sample with 5% styrene-butadiene-styrene(SBS)+1% aromatics+0.1% sulfur exhibits high-comprehensive,high-and low-temperature properties.More-over,its crosslinked mesh structure comprises black rubber particles uniformly interwoven in the middle,which further enhances the performance of the asphalt and results in an excellent performance formulation.In addition,the sample with 5%SBS content has a higher G*value and smaller δ value than that with 3%SBS content,indicating that its high-temperature resistance is improved.The effect of adding 3%SBS content on the viscoelastic ratio is,to some extent,less than that caused by 20% rubber powder.展开更多
The similarities and differences between the container terminal logistics system(CTLS)and the Harvard-architecture computer system are compared in terms of organization and architecture.The mapping relation and the mo...The similarities and differences between the container terminal logistics system(CTLS)and the Harvard-architecture computer system are compared in terms of organization and architecture.The mapping relation and the modeling framework of the CTLS are presented based on multi-agent,and the successful algorithms in the computer domain are applied to the modeling framework,such as the dynamic priority and multilevel feedback scheduling algorithm.In addition,a model and simulation on a certain quay at Shanghai harbor is built up on the AnyLogic platform to support the decision-making of terminal on service cost.It validates the feasibility and creditability of the above systematic methodology.展开更多
Considering that it is difficult to monitor the measurement system and amend the test parameters on the scene in shock wave overpressure measurement and it is inconvenient to operate and carry traditional PC in outdoo...Considering that it is difficult to monitor the measurement system and amend the test parameters on the scene in shock wave overpressure measurement and it is inconvenient to operate and carry traditional PC in outdoor experiments, a new handheld terminal for shock wave pressure measurement system based on ARM is designed, The handheld terminal, whose ap- plication program is developed by the software of Qt, can control the measurement system by Wi-Fi and perform the functions of monitoring the system state, transmitting the data by wireless and displaying waveforms. To prevent data loss, USB inter- face is designed to read the data The test results show that the designed handheld terminal has good stability and reliability in several explosion experiments.展开更多
A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulate...A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.展开更多
An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can...An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.展开更多
This paper proposes a fast integral terminal sliding mode（ITSM） control method for a cascaded nonlinear dynamical system with mismatched uncertainties. Firstly, an integral terminal sliding mode surface is presented...This paper proposes a fast integral terminal sliding mode（ITSM） control method for a cascaded nonlinear dynamical system with mismatched uncertainties. Firstly, an integral terminal sliding mode surface is presented, which not only avoids the singularity in the traditional terminal sliding mode, but also addresses the mismatched problems in the nonlinear control system. Secondly, a new ITSM controller with finite convergence time based on the backstepping technique is derived for a cascaded nonlinear dynamical system with mismatched uncertainties. Thirdly, the convergence time of ITSM is analyzed, whose convergence speed is faster than those of two nonsingular terminal sliding modes.Finally, simulation results are presented in order to evaluate the effectiveness of ITSM control strategies for mismatched uncertainties.展开更多
This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turb...This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme.展开更多
This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional...This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme.展开更多
In China, there are approximately 20 million people suffering from peripheral nerve injury and this number is increasing at a rate of 2 million per year. These patients cannot live or work independently and are a heav...In China, there are approximately 20 million people suffering from peripheral nerve injury and this number is increasing at a rate of 2 million per year. These patients cannot live or work independently and are a heavy responsibility on both family and society because of extreme disability and dysfunction caused by peripheral nerve injury （PNI）. Thus, repair of PNI has become a major public health issue in China.展开更多
An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the ...An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the min-max optimization problem.The polytopic invariant set is adopted to replace the traditional ellipsoid invariant set.And the parameter-correlation nonlinear control law is designed to replace the traditional linear control law.Consequently,the terminal region is enlarged and the control effect is improved.Simulation and experiment are used to verify the validity of the wind tunnel flow field control algorithm.展开更多
A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the p...A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms.展开更多
This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose...This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master＇s and the slave＇s system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.展开更多
A novel fuzzy terminal sliding mode control （FTSMC） scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization tec...A novel fuzzy terminal sliding mode control （FTSMC） scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach.展开更多
Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific ...Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific tasks.Thus.to improve their performance,it is crucial to control the system and compensate uncertainties and disruptions.In this paper,both classic and intelligent approaches are combined to design an observer-based controller.The system is assumed to be both controllable and observable.An adaptive neural network observer with guaranteed stability is derived for the nonlinear dynamics of a hovercraft,which is controlled via a nonsingular super-twisting terminal sliding-mode method.The main merits of the proposed method are as follows:(1) the Lyapunov stability of the overall closed-loop system,(2) the convergence of the tracking and observer errors to zero,(3) the robustness against uncertainties and disturbances,and(4) the reduction of the chattering phenomena.The simulation results validate the excellent performance of the derived method.展开更多
A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is p...A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.展开更多
基金supported by the National Natural Science Foundation of China(62473337,62003305)the Key Research and Development Program of Zhejiang Province(2024C03040,2022C03029)the Leading Innovative and Entrepreneur Team Introduction Program of Zhejiang Province(2023R01006)。
文摘In this paper,a unified terminal sliding mode(UTSM)control method is proposed for second-order nonlinear systems with uncertainties and disturbances.It is seen that the newly defined terminal sliding surface is integrated with both conventional and fast terminal sliding mode and exhibits design advantages such as a variable exponent,adjustable sliding mode parameters,and chattering-alleviation effect.The inherent dynamic properties of the closed-loop systems with the UTSM control are discussed in detail via the phase plane and Lyapunov stability theory.Both numerical simulations and experimental results show the flexible sliding manifold design,strong robustness against uncertain dynamics,and effective attenuation of chattering phenomenon.
基金supported by the National Natural Science Foundation under Grant 62273189the Shandong Province Natural Science Foundation under Grant ZR2021MF005Systems Science Plus Joint Research Program of Qingdao University under Grant XT2024201 of China supporting this research work.
文摘This article investigates the anti-disturbance and stabilization problems for the nonlinear uncertain permanent magnet synchronous motor(PMSM)with stator voltage saturation and unknown load.A smooth switching mechanism is presented to structure the adaptive integral terminal sliding mode control(SMC)strategy.The control design consists of compensation control and nominal control,which improves the rapidity and accuracy of trajectory tracking.The smooth saturation model based on the error function is applied to approximate the voltage saturation phenomenon.Additionally,to deal with the adverse effects of various unknown disturbances,including model parameter uncertainties and unknown external load disturbances,an improved disturbance observer(DO)is proposed.This observer effectively suppresses the fluctuations caused by fixed gain during the starting period of the system.Finally,the experimental results under different conditions show that the proposed strategy has good tracking and disturbance suppression performances.
文摘This paper introduces a novel chattering-free terminal sliding mode control(SMC)strategy to address chaotic behavior in permanent magnet synchronous generators(PMSG)for offshore wind turbine systems.By integrating an adaptive exponential reaching law with a continuous barrier function,the proposed approach eliminates chattering and ensures robust performance under model uncertainties.The methodology combines adaptive SMC with dynamic switching to estimate and compensates for unknown uncertainties,providing smooth and stable control.Finally,the performance and effectiveness of the proposed approach are compared with those of a previous study.
基金supported by the National Natural Science Foundation of China(No.T2288101)the National Key Research and Development Project,China(No.2020YFC1512500)the Academic Excellence Foundation of Beijing University of Aeronautics and Astronautics(BUAA)。
文摘Considering the challenges posed by external disturbances on carrier-based aircraft land-ing control,higher demands are required for the precision and convergence of the carrier landingcontrol system.First,this paper proposes an Adaptive Terminal Sliding Combined Super TwistingControl(ATS-STC)method to address the issues of low precision,slow convergence,and poor dis-turbance rejection capability resulting from external disturbances,such as carrier air-wake and deckmotion.By introducing a nonlinear term into the sliding surface and employing an integralapproach,the proposed ATS-STC method can ensure finite-time convergence and mitigate the chat-tering problem.An adaptive law is also utilized to estimate the external disturbances,therebyenhancing the anti-disturbance performance.Then,the stability and convergence time analysis ofthe designed controller are conducted.Based on the proposed method,an Automatic Carrier Land-ing System(ACLS)is developed to perform the carrier landing control task.Furthermore,a multi-dimensional validation is carried out.For the numerical simulation test,the Terminal Sliding ModeControl(TSMC)method and Proportion Integration Differentiation(PID)method are introducedas comparison,the quantitative assessment results show that the tracking error of TSMC and PIDcan reach 1.5 times and 2 times that of the proposed method.Finally,the Hardware-in-the-Loop(HIL)test and real flight test are conducted.All the experimental results demonstrate that the pro-posed control method is more effective and precise.
基金financially supported by the National Natural Science Foundation of China(22102194)the Science and Technology Plan of Gansu Province(24JRRA067,23ZDFA016)the Youth Innovation Promotion Association of CAS(2022427)。
文摘The carboxylation of alkynes with CO_(2) has attracted considerable interest due to the valorization of C1resources and atomic economy.Much effort focused on active metals(e.g.,Au,Ag,Cu),while the mechanistic role of active supports,particularly the oxygen vacancy(O_(v)),in modulating C-H bond carboxylation remains unknown.Herein,ultra-small silver clusters and morphologically engineered CeO_(2) support(nanorods,nanocubes,and nano particles)were employed to construct Ag cluster/O_(v) synergistic catalyst,which exhibits variations in Oy concentration by an in situ auto-reduction method.The 0.197%Ag/CeO_(2)-NR catalyst exhibited a high reaction rate for the phenylacetylene carboxylation reaction and the maximal silver utilization efficiency.The characterization and DFT calculations demonstrated that vacancies enhanced CO_(2) adsorption via polarization-induced molecular bending and C-O bond elongation.Positively charged Ag clusters induced by metal-support interactions serve as deprotonation activation centers for alkynes.This synergistic interplay between dual active sites efficiently facilitates the C(sp)-H carboxylation with CO_(2).These findings offer critical insights for the rational selection of active supports in designing efficient C-H carboxylation catalysts.
基金Funded by the National Natural Science Foundation of China(No.52278446)。
文摘To explore the best preparation process for terminal blend(TB)composite-modified asphalt and to filter its formulation with excellent performance,this study evaluates the performance of TB composite modified asphalt by physical property index,microscopic morphology,rheological testing,and infrared spectroscopy on multiple scales.The results show that the best preparation process for TB-modified asphalt is stirring at 260℃ for 4 h at 400 rpm,which significantly reduces the modification time of the asphalt.From a physical property viewpoint,the TB composite-modified asphalt sample with 5% styrene-butadiene-styrene(SBS)+1% aromatics+0.1% sulfur exhibits high-comprehensive,high-and low-temperature properties.More-over,its crosslinked mesh structure comprises black rubber particles uniformly interwoven in the middle,which further enhances the performance of the asphalt and results in an excellent performance formulation.In addition,the sample with 5%SBS content has a higher G*value and smaller δ value than that with 3%SBS content,indicating that its high-temperature resistance is improved.The effect of adding 3%SBS content on the viscoelastic ratio is,to some extent,less than that caused by 20% rubber powder.
基金The National Key Technology R&D Program of China during the 11th Five-Year Plan Period(No.2006BAH02A06)
文摘The similarities and differences between the container terminal logistics system(CTLS)and the Harvard-architecture computer system are compared in terms of organization and architecture.The mapping relation and the modeling framework of the CTLS are presented based on multi-agent,and the successful algorithms in the computer domain are applied to the modeling framework,such as the dynamic priority and multilevel feedback scheduling algorithm.In addition,a model and simulation on a certain quay at Shanghai harbor is built up on the AnyLogic platform to support the decision-making of terminal on service cost.It validates the feasibility and creditability of the above systematic methodology.
基金The 11th Postgraduate Technology Innovation Project of North University of China(No.20141147)
文摘Considering that it is difficult to monitor the measurement system and amend the test parameters on the scene in shock wave overpressure measurement and it is inconvenient to operate and carry traditional PC in outdoor experiments, a new handheld terminal for shock wave pressure measurement system based on ARM is designed, The handheld terminal, whose ap- plication program is developed by the software of Qt, can control the measurement system by Wi-Fi and perform the functions of monitoring the system state, transmitting the data by wireless and displaying waveforms. To prevent data loss, USB inter- face is designed to read the data The test results show that the designed handheld terminal has good stability and reliability in several explosion experiments.
基金the National Natural Science Foundation of China (No.60474025, 90405017).
文摘A new dynamic terminal sliding mode control （DTSMC） technique is proposed for a class of single-input and single-output （SISO） uncertain nonlinear systems. The dynamic terminal sliding mode controller is formulated based on Lyapunov theory such that the existence of the sliding phase of the closed-loop control system can be guaranteed, chattering phenomenon caused by the switching control action can be eliminated, and high precision performance is realized. Moreover, by designing terminal equation, the output tracking error converges to zero in finite time, the reaching phase of DSMC is eliminated and global robustness is obtained. The simulation results for an inverted pendulum are given to demonstrate the properties of the proposed method.
文摘An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
基金supported by the National Natural Science Foundation of China(61473226)
文摘This paper proposes a fast integral terminal sliding mode（ITSM） control method for a cascaded nonlinear dynamical system with mismatched uncertainties. Firstly, an integral terminal sliding mode surface is presented, which not only avoids the singularity in the traditional terminal sliding mode, but also addresses the mismatched problems in the nonlinear control system. Secondly, a new ITSM controller with finite convergence time based on the backstepping technique is derived for a cascaded nonlinear dynamical system with mismatched uncertainties. Thirdly, the convergence time of ITSM is analyzed, whose convergence speed is faster than those of two nonsingular terminal sliding modes.Finally, simulation results are presented in order to evaluate the effectiveness of ITSM control strategies for mismatched uncertainties.
基金supported by National Natural Science Foundation of China(60904008,61273336)the Fundamental Research Funds for the Central Universities(2018MS025)the National Basic Research Program of China(973 Program)(B1320133020)
文摘This paper addresses a terminal sliding mode control(T-SMC) method for load frequency control(LFC) in renewable power systems with generation rate constraints(GRC).A two-area interconnected power system with wind turbines is taken into account for simulation studies. The terminal sliding mode controllers are assigned in each area to achieve the LFC goal. The increasing complexity of the nonlinear power system aggravates the effects of system uncertainties. Radial basis function neural networks(RBF NNs) are designed to approximate the entire uncertainties. The terminal sliding mode controllers and the RBF NNs work in parallel to solve the LFC problem for the renewable power system. Some simulation results illustrate the feasibility and validity of the presented scheme.
基金Project supported by the Fundamental Research Funds for the Central Universities of China (Grant No. 11MG49)
文摘This paper provides a novel method to synchronize uncertain fractional-order chaotic systems with external disturbance via fractional terminal sliding mode control. Based on Lyapunov stability theory, a new fractional-order switching manifold is proposed, and in order to ensure the occurrence of sliding motion in finite time, a corresponding sliding mode control law is designed. The proposed control scheme is applied to synchronize the fractional-order Lorenz chaotic system and fractional-order Chen chaotic system with uncertainty and external disturbance parameters. The simulation results show the applicability and efficiency of the proposed scheme.
基金supported by grants from the National Program on Key Basic Research Project of China(973 Program),No.2014CB542200Program for Innovative Research Team in University of Ministry of Education of China,No.IRT1201+1 种基金the National Natural Science Foundation of China,No.31271284,31171150,81171146,30971526,31100860,31040043Program for New Century Excellent Talents in University of Ministry of Education of China,No.BMU20110270
文摘In China, there are approximately 20 million people suffering from peripheral nerve injury and this number is increasing at a rate of 2 million per year. These patients cannot live or work independently and are a heavy responsibility on both family and society because of extreme disability and dysfunction caused by peripheral nerve injury （PNI）. Thus, repair of PNI has become a major public health issue in China.
基金Project(61074074)supported by the National Natural Science Foundation,ChinaProject(KT2012C01J0401)supported by the Group Innovation Fund,China
文摘An improved model predictive control algorithm is proposed for Hammerstein-Wiener nonlinear systems.The proposed synthesis algorithm contains two parts:offline design the polytopic invariant sets,and online solve the min-max optimization problem.The polytopic invariant set is adopted to replace the traditional ellipsoid invariant set.And the parameter-correlation nonlinear control law is designed to replace the traditional linear control law.Consequently,the terminal region is enlarged and the control effect is improved.Simulation and experiment are used to verify the validity of the wind tunnel flow field control algorithm.
基金the National Natural Science Foundation ofChina (60974136)
文摘A terminal sliding mode fuzzy control based on multiple sliding surfaces was proposed for ship course tracking steering, which takes account of rudder characteristics and parameter uncertainty. In order to solve the problem, the controller was designed by employing the universal approximation property of fuzzy logic system, the advantage of Nussbaum function, and using multiple sliding mode control algorithm based on the recursive technique. In the last step of designing, a nonsingular terminal sliding mode was utilized to drive the last state of the system to converge in a finite period of time, and high-order sliding mode control law was designed to eliminate the chattering and make the system robust. The simulation results showed that the controller designed here could track a desired course fast and accurately. It also exhibited strong robustness peculiarly to system, and had better adaptive ability than traditional PID control algorithms.
文摘This paper deals with the design of a novel nonsingular terminal sliding mode controller for finite-time synchro-nization of two different chaotic systems with fully unknown parameters and nonlinear inputs. We propose a novel nonsingular terminal sliding surface and prove its finite-time convergence to zero. We assume that both the master＇s and the slave＇s system parameters are unknown in advance. Proper adaptation laws are derived to tackle the unknown parameters. An adaptive sliding mode control law is designed to ensure the existence of the sliding mode in finite time. We prove that both reaching and sliding mode phases are stable in finite time. An estimation of convergence time is given. Two illustrative examples show the effectiveness and usefulness of the proposed technique. It is worthwhile noticing that the introduced nonsingular terminal sliding mode can be applied to a wide variety of nonlinear control problems.
基金This work was supported by the National Natural Science Foundation of China (No. 60474025, 90405017).
文摘A novel fuzzy terminal sliding mode control （FTSMC） scheme is proposed for position tracking of a class of second-order nonlinear uncertain system. In the proposed scheme, we integrate input-output linearization technique to cancel the nonlinearities. By using a function-augmented sliding hyperplane, it is guaranteed that the output tracking error converges to zero in finite time which can be set arbitrarily. The proposed scheme eliminates reaching phase problem, so that the closed-loop system always shows invariance property to parameter uncertainties. Fuzzy logic systems are used to approximate the unknown system functions and switch item. Robust adaptive law is proposed to reduce approximation errors between true nonlinear functions and fuzzy systems, thus chattering phenomenon can be eliminated. Stability of the proposed control scheme is proved and the scheme is applied to an inverted pendulum system. Simulation studies are provided to confirm performance and effectiveness of the proposed control approach.
文摘Designing a controller to stabilize maneuvering hovercrafts is an important challenge in amphibious vehicles.Hovercrafts are implemented in several applications,such as military missions,transportation,and scientific tasks.Thus.to improve their performance,it is crucial to control the system and compensate uncertainties and disruptions.In this paper,both classic and intelligent approaches are combined to design an observer-based controller.The system is assumed to be both controllable and observable.An adaptive neural network observer with guaranteed stability is derived for the nonlinear dynamics of a hovercraft,which is controlled via a nonsingular super-twisting terminal sliding-mode method.The main merits of the proposed method are as follows:(1) the Lyapunov stability of the overall closed-loop system,(2) the convergence of the tracking and observer errors to zero,(3) the robustness against uncertainties and disturbances,and(4) the reduction of the chattering phenomena.The simulation results validate the excellent performance of the derived method.
基金supported by the National Natural Science Foundation of China(11502288)
文摘A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.
