This study investigated the influence factors on the seismic response and deformation modes of retaining walls using large-scale model shaking table tests. Experimental results showed that the distribution of peak sei...This study investigated the influence factors on the seismic response and deformation modes of retaining walls using large-scale model shaking table tests. Experimental results showed that the distribution of peak seismic earth pressures along the height of a wall was a single peak value curve. The seismic earth pressures on a gravel soil retaining wall were larger than the pressures on the weathered granite and quartz retaining walls. Also, the peak seismic earth pressure increased with increases in the peak ground acceleration and the wall height. The measured seismic active earth pressures on a rock foundation retaining wall were larger than the calculated values, and the action position of resultant seismic pressure was higher than 0.33 H. In the soil foundation retaining wall, the measured seismic earth pressures were much smaller than the calculated values, while the action position was slightly higher than 0.33 H. The soil foundation retaining wall suffered base sliding and overturning under earthquake conditions, while overturning was the main failure mode for the rock foundation retaining walls.展开更多
Combustion mode transition is a valuable and challenging research area in dual-mode scramjet engines.The thermal behavior of an isolator with mode transition inducing backpressure is investigated by direct-connect dua...Combustion mode transition is a valuable and challenging research area in dual-mode scramjet engines.The thermal behavior of an isolator with mode transition inducing backpressure is investigated by direct-connect dual-mode scramjet experiments and theoretical analysis.Combustion experiments are conducted under the incoming airflow conditions of total temperature1270 K and Mach 2.A small increment of the fuel equivalence ratio is scheduled to trigger mode transition.Correspondingly,the variation of the coolant flow rate is very small.Based on the measured wall pressures,the heat-transfer model can quantify the thermal state variation of the engine with active cooling.Compared with the combustor,mode transition has a greater effect on the isolator thermal behavior,and it significantly changes the isolator heat-flux and wall temperature.To further study the isolator thermal behavior from flight Mach 4 to Mach 7,a theoretical analysis is carried out.Around the critical point of combustion mode transition,sudden changes of the isolator flowfield and thermal state are discussed.展开更多
This research presents an analysis of travel mode choice for trips to Ho Chi Minh City metro station. Research methods were inherited through a formula to calculate passenger traffic forecasts to predict passengers, g...This research presents an analysis of travel mode choice for trips to Ho Chi Minh City metro station. Research methods were inherited through a formula to calculate passenger traffic forecasts to predict passengers, going to the station. Based on the collected data of interviews, traffic surveys, and ＂Irwin ＆ Von Cube＂ function, forecast the proportion of travel mode, and use to go to the station and leaving from the station. The results of study are used for the purpose of calculating the size of the metro station parking lots and parking layout plan.展开更多
In the Ruhrstahl-Heraeus （RH） refining process, liquid steel flow pattern in a ladle is controlled by the fluid flow behavior in the vacuum chamber. Potassium chloride solution and NaOH solution saturated with CO2 w...In the Ruhrstahl-Heraeus （RH） refining process, liquid steel flow pattern in a ladle is controlled by the fluid flow behavior in the vacuum chamber. Potassium chloride solution and NaOH solution saturated with CO2 were respectively used as a tracer to investigate the liquid and gas flow behaviors in the vacuum chamber. Principal compo nent and comparative analysis were made to show the factors controlling mixing and circulation flow rate. The liquid level and bubble behavior in the vacuum chamber greatly affect fluid flow in RH process. Experiments were performed to investigate the effects of liquid steel level, gas flow rate, bubble residence time, and gas injection mode on mixing, decarburization, and void fraction. The results indicate that the mixing process can be divided into three regions： the flow rate affected zone, the concentration gradient-affected zone, and their combination. The liquid steel level in the vacuum chamber of 300 mm is a critical point in the decarburization transition. For liquid level lower than 300 mm, liquid steel circulation controls decarburization, while for liquid level higher than 300mm, bubble behavior is the main controlling factor. During the RH process, it is recommended to use the concentrated bubble injection mode for low gas flow rates and the uniform bubble injection mode for high gas flow rates.展开更多
[ Objectives ] To study the reproductive behaviors and the effect of different pairing modes on the developmental status of incipient colonies＇of Odontote- rmes fomosanus （Shiraki）. [ Methods ] We observed the repr...[ Objectives ] To study the reproductive behaviors and the effect of different pairing modes on the developmental status of incipient colonies＇of Odontote- rmes fomosanus （Shiraki）. [ Methods ] We observed the reproductive behaviors of male alates, female Mates and mated alates respectively. Male and female Mates had 9 pairing modes and founded 170 incipient colonies under laboratory conditions. The effect of pairing mode on incipient colonies＇ developmental status was ana- lyzed. [ Results ] Two peaking hours of mating activity within the daily circadian rhythm of Mate activity appeared from 09：00 to 10：00, and from 21：00 to 22：00, respectively. Courtship behavior before mating consisted of touching with antennae, connecting into a ring （head-to-end）, and licking. The reproductive behavior （ calling, pairing, tandem, mating and oviposition） of nestmate pairs was different to that of non-nestmate pairs. The pairing time of non-nestmate pairs was signifi- candy longer than that of alates paired with siblings （P 〈 0.05 ）. The non-swarming alates could mate with swarming or non-swarming Mates and lay fertile eggs which hatched successfully. However, the survival rate of colonies founded by non-swarming alates was very low. The death rate of incipient colonies was in the range of 0.61% -0. 99% after three months, while the death rate of the colonies founded by swarming alates was in the range of 0.22% -0.58%. Females that had been experimentally prevented from mating could lay eggs, but the eggs did not hatch. [ Conclusion] There are two distinct hourly peaks of mating activity within each 24 hour period. Incipient colonies founded by outbreeding have the highest probability of survival.展开更多
Behavior requirement expression and its satisfiability verification for composite Web services is one of the ongoing issues in service computing. In this paper, the concept of behavior specifications based on activity...Behavior requirement expression and its satisfiability verification for composite Web services is one of the ongoing issues in service computing. In this paper, the concept of behavior specifications based on activity sequence is proposed to express one kind of behavioral requirements for composite Web services. Its basic element is activity sequence. The method to express such behavioral requirements by behavioral modes is presented. Five behavioral modes used in this method are adopted. Through map- ping modes to Labeled Transition Systems （LTSs）, these modes are encoded with exact operation semantics. Then, the sufficient and necessary conditions as well as the checking algorithm for satisfiability of behavioral modes are given. Finally, an example analysis is presented. The result indicates that the behavioral requirements based on activity sequence are more suitable for the case of composite Web service than those based on activity or scenario. The behavioral modes expressions are concise and the satisfiability checking is effective by the given algorithm.展开更多
In the last few decades, prestressed concrete has been rapidly used in bridge engineering due to the enormous development in the construction techniques and the increasing need for long span bridges. High strength con...In the last few decades, prestressed concrete has been rapidly used in bridge engineering due to the enormous development in the construction techniques and the increasing need for long span bridges. High strength concrete has been also more widely spread than the past. It currently becomes more desirable as it has better mechanical properties and durability performance. Major defect of fully prestressed concrete is its low ductility;it may produce less alarming signs than ordinary reinforced concrete via smaller deflection and limited cracking. Therefore, partially prestressing is considered an intermediate design between the two extremes. So, combining high strength concrete with partial prestressing will result in a considerable development in the use of prestressed concrete structures regarding the economical and durability view points. This study presents the results of seven partially prestressed high strength concrete beams in flexure. The tested beams are used to investigate the influence of concrete compressive strength, prestressing steel ratio and flange width on the behavior of partially prestressed beams. The experimentally observed behaviors of all beams were presented in terms of the cracking load, ultimate load, deflection, cracking behavior and failure modes.展开更多
A novel method case-based reasoning was proposed for suspicious behavior recognition. The method is composed of three departs: human behavior decomposition, human behavior case representation and case-based reasoning....A novel method case-based reasoning was proposed for suspicious behavior recognition. The method is composed of three departs: human behavior decomposition, human behavior case representation and case-based reasoning. The new approach was proposed to decompose behavior into sub-behaviors that are easier to recognize using a saliency-based visual attention model. New representation of behavior was introduced, in which the sub-behavior and the associated time characteristic of sub-behavior were used to represent behavior case. In the process of case-based reasoning, apart from considering the similarity of basic sub-behaviors,order factor was proposed to measure the similarity of a time order among the sub-behaviors and span factor was used to measure the similarity of duration time of each sub-behavior, which makes the similarity calculations more rational and comprehensive.Experimental results show the effectiveness of the proposed method in comparison with other related works and can run in real-time for the recognition of suspicious behaviors.展开更多
Accurately simulating large-scale user behavior is important to improve the similarity between the cyber range and the real network environment. The Linux Container provides a method to simulate the behavior of large-...Accurately simulating large-scale user behavior is important to improve the similarity between the cyber range and the real network environment. The Linux Container provides a method to simulate the behavior of large-scale users under the constraints of limited physical resources. In a container-based virtualization environment, container networking is an important component. To evaluate the impact of different networking methods between the containers on the simulation performance, the typical container networking methods such as none, bridge, macvlan were analyzed, and the performance of different networking methods was evaluated according to the throughput and latency metrics. The experiments show that under the same physical resource constraints, the macvlan networking method has the best network performance, while the bridge method has the worst performance. This result provides a reference for selecting the appropriate networking method in the user behavior simulation process.展开更多
This paper describes the fishbone mode phenomena during the injection of highpower neutral beams in EAST（Experimental Advanced Superconducting Tokamak）.The features of the fishbone mode are presented.The change in f...This paper describes the fishbone mode phenomena during the injection of highpower neutral beams in EAST（Experimental Advanced Superconducting Tokamak）.The features of the fishbone mode are presented.The change in frequency of the mode during a fishbone burst is from 1 kHz to 6 kHz.The nonlinear behavior of the fishbone mode is analyzed by using a prey-predator model,which is consistent with the experimental results.This model indicates that the periodic oscillations of the fishbone mode always occur near the critical value of fast ion beta.Furthermore,the neutral beam analysis for the discharge is done by using the NUBEAM module of the TRANSP code.According to the numerical simulation results and theoretical calculation,it can be concluded that the fishbone mode is driven by the deeply trapped energetic beam ions in EAST.展开更多
Lower hybrid heating (LHH) has been successfully carried out in the HT-6M toka-mak. The H-mode has been obtained with a power threshold of 50 kW under a boronized wall condition. Both energy and particle confinements ...Lower hybrid heating (LHH) has been successfully carried out in the HT-6M toka-mak. The H-mode has been obtained with a power threshold of 50 kW under a boronized wall condition. Both energy and particle confinements have been improved along with a dropped edge plasma density and an increase electron temperature during the LHH phase. A negative Er well plays a key role of triggering and sustaining the good confinement. Both electrostatic fluctuation of the plasma potential and the density fluctuations dropped to an ultra-low level. The observation of an enhanced Er shear before the reduction in turbulence level is consistent with an increased Er shear as the cause of turbulence suppression.展开更多
A growing stream of study stresses the relevance of subjective elements in understanding the hierarchy of preferences that underpin individual travel behavior. The purpose of this study is to evaluate the impact of va...A growing stream of study stresses the relevance of subjective elements in understanding the hierarchy of preferences that underpin individual travel behavior. The purpose of this study is to evaluate the impact of various factors on mode choice. To achieve this, a multinomial logit model (MNL) was used to analyze the relationships between mode choice and three classes of attributes;Combined Active and Latent, Active only and Latent only attributes. The data used are derived from surveys in the port city of Douala, Cameroon as a case study. Results stipulated that, the combined attributes model performed better than both active only attributes and latent only attributes models. Likewise, latent only attributes model performed better than active only attributes model. The advantage of modelling all three groups is for better selection of the most relevant attributes, and this is very relevant in understanding travel behavior of individuals and mode choice decisions.展开更多
In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to im...In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.展开更多
基金the National Program on Key Research Project of China (Grant No. 2016YFC0802206)the open research fund of MOE Key Laboratory of High-speed Railway Engineering,Southwest Jiaotong University and Doctoral Innovation Fund Program of Southwest University of Science and Technology (Grant No. 16zx7123)
文摘This study investigated the influence factors on the seismic response and deformation modes of retaining walls using large-scale model shaking table tests. Experimental results showed that the distribution of peak seismic earth pressures along the height of a wall was a single peak value curve. The seismic earth pressures on a gravel soil retaining wall were larger than the pressures on the weathered granite and quartz retaining walls. Also, the peak seismic earth pressure increased with increases in the peak ground acceleration and the wall height. The measured seismic active earth pressures on a rock foundation retaining wall were larger than the calculated values, and the action position of resultant seismic pressure was higher than 0.33 H. In the soil foundation retaining wall, the measured seismic earth pressures were much smaller than the calculated values, while the action position was slightly higher than 0.33 H. The soil foundation retaining wall suffered base sliding and overturning under earthquake conditions, while overturning was the main failure mode for the rock foundation retaining walls.
文摘Combustion mode transition is a valuable and challenging research area in dual-mode scramjet engines.The thermal behavior of an isolator with mode transition inducing backpressure is investigated by direct-connect dual-mode scramjet experiments and theoretical analysis.Combustion experiments are conducted under the incoming airflow conditions of total temperature1270 K and Mach 2.A small increment of the fuel equivalence ratio is scheduled to trigger mode transition.Correspondingly,the variation of the coolant flow rate is very small.Based on the measured wall pressures,the heat-transfer model can quantify the thermal state variation of the engine with active cooling.Compared with the combustor,mode transition has a greater effect on the isolator thermal behavior,and it significantly changes the isolator heat-flux and wall temperature.To further study the isolator thermal behavior from flight Mach 4 to Mach 7,a theoretical analysis is carried out.Around the critical point of combustion mode transition,sudden changes of the isolator flowfield and thermal state are discussed.
文摘This research presents an analysis of travel mode choice for trips to Ho Chi Minh City metro station. Research methods were inherited through a formula to calculate passenger traffic forecasts to predict passengers, going to the station. Based on the collected data of interviews, traffic surveys, and ＂Irwin ＆ Von Cube＂ function, forecast the proportion of travel mode, and use to go to the station and leaving from the station. The results of study are used for the purpose of calculating the size of the metro station parking lots and parking layout plan.
基金Item Sponsored by National Natural Science Foundation of China(51404022)Doctoral Fund of Ministry of Education of China(20130006110023)Ph.D Early Development Program of Taiyuan University of Science and Technology of China(20152008,20142001)
文摘In the Ruhrstahl-Heraeus （RH） refining process, liquid steel flow pattern in a ladle is controlled by the fluid flow behavior in the vacuum chamber. Potassium chloride solution and NaOH solution saturated with CO2 were respectively used as a tracer to investigate the liquid and gas flow behaviors in the vacuum chamber. Principal compo nent and comparative analysis were made to show the factors controlling mixing and circulation flow rate. The liquid level and bubble behavior in the vacuum chamber greatly affect fluid flow in RH process. Experiments were performed to investigate the effects of liquid steel level, gas flow rate, bubble residence time, and gas injection mode on mixing, decarburization, and void fraction. The results indicate that the mixing process can be divided into three regions： the flow rate affected zone, the concentration gradient-affected zone, and their combination. The liquid steel level in the vacuum chamber of 300 mm is a critical point in the decarburization transition. For liquid level lower than 300 mm, liquid steel circulation controls decarburization, while for liquid level higher than 300mm, bubble behavior is the main controlling factor. During the RH process, it is recommended to use the concentrated bubble injection mode for low gas flow rates and the uniform bubble injection mode for high gas flow rates.
基金Sponsored by the Doctoral Program of Higher Education(20123204110001)the Natural Science Foundation of Jiangsu Province,China(BK2012816)+3 种基金the Funding Project of Nanjing Municipal Construction Bureauthe Management Office of Dr.Sun Yat-Sen's Mausoleum(200409)the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)Nanjing Forestry University Southern Modern Forestry Collabotative Innovation Center
文摘[ Objectives ] To study the reproductive behaviors and the effect of different pairing modes on the developmental status of incipient colonies＇of Odontote- rmes fomosanus （Shiraki）. [ Methods ] We observed the reproductive behaviors of male alates, female Mates and mated alates respectively. Male and female Mates had 9 pairing modes and founded 170 incipient colonies under laboratory conditions. The effect of pairing mode on incipient colonies＇ developmental status was ana- lyzed. [ Results ] Two peaking hours of mating activity within the daily circadian rhythm of Mate activity appeared from 09：00 to 10：00, and from 21：00 to 22：00, respectively. Courtship behavior before mating consisted of touching with antennae, connecting into a ring （head-to-end）, and licking. The reproductive behavior （ calling, pairing, tandem, mating and oviposition） of nestmate pairs was different to that of non-nestmate pairs. The pairing time of non-nestmate pairs was signifi- candy longer than that of alates paired with siblings （P 〈 0.05 ）. The non-swarming alates could mate with swarming or non-swarming Mates and lay fertile eggs which hatched successfully. However, the survival rate of colonies founded by non-swarming alates was very low. The death rate of incipient colonies was in the range of 0.61% -0. 99% after three months, while the death rate of the colonies founded by swarming alates was in the range of 0.22% -0.58%. Females that had been experimentally prevented from mating could lay eggs, but the eggs did not hatch. [ Conclusion] There are two distinct hourly peaks of mating activity within each 24 hour period. Incipient colonies founded by outbreeding have the highest probability of survival.
基金Supported by Guangxi Science Research and Technology Development Program,China (GSRTD 0992006-13)Doctoral Foundation Program of Guangxi University of Technology,China (DFPGUT 11Z05)
文摘Behavior requirement expression and its satisfiability verification for composite Web services is one of the ongoing issues in service computing. In this paper, the concept of behavior specifications based on activity sequence is proposed to express one kind of behavioral requirements for composite Web services. Its basic element is activity sequence. The method to express such behavioral requirements by behavioral modes is presented. Five behavioral modes used in this method are adopted. Through map- ping modes to Labeled Transition Systems （LTSs）, these modes are encoded with exact operation semantics. Then, the sufficient and necessary conditions as well as the checking algorithm for satisfiability of behavioral modes are given. Finally, an example analysis is presented. The result indicates that the behavioral requirements based on activity sequence are more suitable for the case of composite Web service than those based on activity or scenario. The behavioral modes expressions are concise and the satisfiability checking is effective by the given algorithm.
文摘In the last few decades, prestressed concrete has been rapidly used in bridge engineering due to the enormous development in the construction techniques and the increasing need for long span bridges. High strength concrete has been also more widely spread than the past. It currently becomes more desirable as it has better mechanical properties and durability performance. Major defect of fully prestressed concrete is its low ductility;it may produce less alarming signs than ordinary reinforced concrete via smaller deflection and limited cracking. Therefore, partially prestressing is considered an intermediate design between the two extremes. So, combining high strength concrete with partial prestressing will result in a considerable development in the use of prestressed concrete structures regarding the economical and durability view points. This study presents the results of seven partially prestressed high strength concrete beams in flexure. The tested beams are used to investigate the influence of concrete compressive strength, prestressing steel ratio and flange width on the behavior of partially prestressed beams. The experimentally observed behaviors of all beams were presented in terms of the cracking load, ultimate load, deflection, cracking behavior and failure modes.
基金Project(50808025)supported by the National Natural Science Foundation of ChinaProject(2013GK3012)supported by the Science and Technology Project of Hunan Province,China
文摘A novel method case-based reasoning was proposed for suspicious behavior recognition. The method is composed of three departs: human behavior decomposition, human behavior case representation and case-based reasoning. The new approach was proposed to decompose behavior into sub-behaviors that are easier to recognize using a saliency-based visual attention model. New representation of behavior was introduced, in which the sub-behavior and the associated time characteristic of sub-behavior were used to represent behavior case. In the process of case-based reasoning, apart from considering the similarity of basic sub-behaviors,order factor was proposed to measure the similarity of a time order among the sub-behaviors and span factor was used to measure the similarity of duration time of each sub-behavior, which makes the similarity calculations more rational and comprehensive.Experimental results show the effectiveness of the proposed method in comparison with other related works and can run in real-time for the recognition of suspicious behaviors.
文摘Accurately simulating large-scale user behavior is important to improve the similarity between the cyber range and the real network environment. The Linux Container provides a method to simulate the behavior of large-scale users under the constraints of limited physical resources. In a container-based virtualization environment, container networking is an important component. To evaluate the impact of different networking methods between the containers on the simulation performance, the typical container networking methods such as none, bridge, macvlan were analyzed, and the performance of different networking methods was evaluated according to the throughput and latency metrics. The experiments show that under the same physical resource constraints, the macvlan networking method has the best network performance, while the bridge method has the worst performance. This result provides a reference for selecting the appropriate networking method in the user behavior simulation process.
基金supported by the National Magnetic Confinement Fusion Science Program of China(Nos.2013GB101001,2014DFG61950 and2013GB112003)National Natural Science Foundation of China(Nos.11175211 and 11275233)
文摘This paper describes the fishbone mode phenomena during the injection of highpower neutral beams in EAST（Experimental Advanced Superconducting Tokamak）.The features of the fishbone mode are presented.The change in frequency of the mode during a fishbone burst is from 1 kHz to 6 kHz.The nonlinear behavior of the fishbone mode is analyzed by using a prey-predator model,which is consistent with the experimental results.This model indicates that the periodic oscillations of the fishbone mode always occur near the critical value of fast ion beta.Furthermore,the neutral beam analysis for the discharge is done by using the NUBEAM module of the TRANSP code.According to the numerical simulation results and theoretical calculation,it can be concluded that the fishbone mode is driven by the deeply trapped energetic beam ions in EAST.
基金This work was supported by National Science Foundation Project of China No.19975063.
文摘Lower hybrid heating (LHH) has been successfully carried out in the HT-6M toka-mak. The H-mode has been obtained with a power threshold of 50 kW under a boronized wall condition. Both energy and particle confinements have been improved along with a dropped edge plasma density and an increase electron temperature during the LHH phase. A negative Er well plays a key role of triggering and sustaining the good confinement. Both electrostatic fluctuation of the plasma potential and the density fluctuations dropped to an ultra-low level. The observation of an enhanced Er shear before the reduction in turbulence level is consistent with an increased Er shear as the cause of turbulence suppression.
文摘A growing stream of study stresses the relevance of subjective elements in understanding the hierarchy of preferences that underpin individual travel behavior. The purpose of this study is to evaluate the impact of various factors on mode choice. To achieve this, a multinomial logit model (MNL) was used to analyze the relationships between mode choice and three classes of attributes;Combined Active and Latent, Active only and Latent only attributes. The data used are derived from surveys in the port city of Douala, Cameroon as a case study. Results stipulated that, the combined attributes model performed better than both active only attributes and latent only attributes models. Likewise, latent only attributes model performed better than active only attributes model. The advantage of modelling all three groups is for better selection of the most relevant attributes, and this is very relevant in understanding travel behavior of individuals and mode choice decisions.
基金supported in part by the National High Technology Research and Development Program of China(863 Program)(2015AA042307)Shandong Provincial Scientific and Technological Development Foundation(2014GGX103038)+3 种基金Shandong Provincial Independent Innovation and Achievement Transformation Special Foundation(2015ZDXX0101E01)National Natural Science Fundation of China(NSFC)Joint Fund of Shandong Province(U1706228)the Fundamental Research Funds of Shandong University(2015JC027)
文摘In this paper, an adaptive proportional-derivative sliding mode control(APD-SMC) law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties,and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved.The Lyapunov techniques and the La Salle's invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law.
