Time synchronization is a prerequisite for ensuring determinism in time-sensitive networking(TSN).While time synchronization errors cannot be overlooked,pursuing minimal time errors may incur unnecessary costs.Using c...Time synchronization is a prerequisite for ensuring determinism in time-sensitive networking(TSN).While time synchronization errors cannot be overlooked,pursuing minimal time errors may incur unnecessary costs.Using complex network theory,this study proposes a hierarchy for TSN and introduces the concept of bounded time error.A coupling model between traffic scheduling and time synchronization is established,deriving functional relationships among end-to-end delay,delay jitter,gate window,and time error.These relationships illustrate that time errors can trigger jumps in delay and delay jitter.To evaluate different time errors impact on traffic scheduling performance,an end-to-end transmission experiment scheme is designed,along with the construction of a TSN test platform implementing two representative cases.Case A is a closed TSN domain scenario with pure TSN switches emulating closed factory floor network.Case B depicts remote factory interconnection where TSN domains link via non-TSN domains composed of OpenFlow switches.Results from Case A show that delay and delay jitter on a single node are most significantly affected by time errors,up to one gating cycle.End-to-end delay jitter tends to increase with the number of hops.When the ratio of time error bound to window exceeds 10%,the number of schedulable traffic flows decreases rapidly.Case B reveals that when time error is below 1μs,the number of schedulable traffic flows begins to increase significantly,approaching full schedulability at errors below 0.6μs.展开更多
A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. ...A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.展开更多
In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of m...In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.展开更多
基金supported in part by the Science and Technology Research and Development Foundation of China Academy of Railway Sciences Corporation Limited(Grant No.2023YJ364)in part by National Key R&D Program of China(Grant No.2022YFC3803700)in part by the project of Beijing Laboratory of Advanced Information Networks.
文摘Time synchronization is a prerequisite for ensuring determinism in time-sensitive networking(TSN).While time synchronization errors cannot be overlooked,pursuing minimal time errors may incur unnecessary costs.Using complex network theory,this study proposes a hierarchy for TSN and introduces the concept of bounded time error.A coupling model between traffic scheduling and time synchronization is established,deriving functional relationships among end-to-end delay,delay jitter,gate window,and time error.These relationships illustrate that time errors can trigger jumps in delay and delay jitter.To evaluate different time errors impact on traffic scheduling performance,an end-to-end transmission experiment scheme is designed,along with the construction of a TSN test platform implementing two representative cases.Case A is a closed TSN domain scenario with pure TSN switches emulating closed factory floor network.Case B depicts remote factory interconnection where TSN domains link via non-TSN domains composed of OpenFlow switches.Results from Case A show that delay and delay jitter on a single node are most significantly affected by time errors,up to one gating cycle.End-to-end delay jitter tends to increase with the number of hops.When the ratio of time error bound to window exceeds 10%,the number of schedulable traffic flows decreases rapidly.Case B reveals that when time error is below 1μs,the number of schedulable traffic flows begins to increase significantly,approaching full schedulability at errors below 0.6μs.
基金supported by the National Natural Science Foundation of China(11572036)
文摘A robust controller for bank to turn(BTT) missiles with aerodynamic fins and reaction jet control system(RCS) is developed based on nonlinear control dynamic models comprising couplings and aerodynamic uncertainties. The fixed time convergence theory is incorporated with the sliding mode control technique to ensure that the system tracks the desired command within uniform bounded time under different initial conditions. Unlike previous terminal sliding mode approaches, the bound of settling time is independent of the initial state, which means performance metrics like convergence rate can be predicted beforehand. To reduce the burden of control design in terms of robustness, extended state observer(ESO) is introduced for uncertainty estimation with the output substituted into the controller as feedforward compensation. Cascade control structure is employed with the proposed control law and therein the compound control signal is obtained.Afterwards, control inputs for two kinds of actuators are allocated on the basis of their inherent characteristics. Finally, a number of simulations are carried out and demonstrate the effectiveness of the designed controller.
基金supported by the National Natural Science Foundation of China(Grant Nos.6133300861273153&61304027)
文摘In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.
