To investigate the influence of different longitudinal constraint systems on the longitudinal displacement at the girder ends of a three-tower suspension bridge,this study takes the Cangrong Xunjiang Bridge as an engi...To investigate the influence of different longitudinal constraint systems on the longitudinal displacement at the girder ends of a three-tower suspension bridge,this study takes the Cangrong Xunjiang Bridge as an engineering case for finite element analysis.This bridge employs an unprecedented tower-girder constraintmethod,with all vertical supports placed at the transition piers at both ends.This paper aims to study the characteristics of longitudinal displacement control at the girder ends under this novel structure,relying on finite element(FE)analysis.Initially,based on the Weigh In Motion(WIM)data,a random vehicle load model is generated and applied to the finite elementmodel.Several longitudinal constraint systems are proposed,and their effects on the structural response of the bridge are compared.The most reasonable system,balancing girder-end displacement and transitional pier stress,is selected.Subsequently,the study examines the impact of different viscous damper parameters on key structural response indicators,including cumulative longitudinal displacement at the girder ends,maximum longitudinal displacement at the girder ends,cumulative longitudinal displacement at the pier tops,maximum longitudinal displacement at the pier tops,longitudinal acceleration at the pier tops,and maximum bending moment at the pier bottoms.Finally,the coefficient of variation(CV)-TOPSIS method is used to optimize the viscous damper parameters for multiple objectives.The results show that adding viscous dampers at the side towers,in addition to the existing longitudinal limit bearings at the central tower,can most effectively reduce the response of structural indicators.The changes in these indicators are not entirely consistent with variations in damping coefficient and velocity exponent.The damper parameters significantly influence cumulative longitudinal displacement at the girder ends,cumulative longitudinal displacement at the pier tops,and maximum bending moments at the pier bottoms.The optimal damper parameters are found to be a damping coefficient of 5000 kN/(m/s)0.2 and a velocity exponent of 0.2.展开更多
This paper proposes a constructive approach to solving geometric constraint systems.The approach incorporates graph-based and rule-based approaches, and achieves interactive speed.The paper presents a graph representa...This paper proposes a constructive approach to solving geometric constraint systems.The approach incorporates graph-based and rule-based approaches, and achieves interactive speed.The paper presents a graph representation of geometric conStraint syStems, and discusses in detailthe algorithm of geometric reasoning based on poinl-cluster reduction. An example is made forillustration.展开更多
Dear Editor,In this letter,a novel adaptive control design problem for uncertain nonlinear multi-input-multi-output(MIMO)systems with time-varying full state constraints is proposed,where the considered systems consis...Dear Editor,In this letter,a novel adaptive control design problem for uncertain nonlinear multi-input-multi-output(MIMO)systems with time-varying full state constraints is proposed,where the considered systems consist of various subsystems,and the states of each subsystem are interconnected tightly.It is universally acknowledged that in the existing researches with state constraints,system constraint bounds are always constants or time-varying functions.展开更多
Based on the dynamic equation, the performance functional and the system constraint equation of time-invariant discrete LQ control problem, the generalized Riccati equations of linear equality constraint system are ob...Based on the dynamic equation, the performance functional and the system constraint equation of time-invariant discrete LQ control problem, the generalized Riccati equations of linear equality constraint system are obtained according to the minimum principle, then a deep discussion about the above equations is given, and finally numerical example is shown in this paper.展开更多
This paper investigates the secure communication between legitimate users in the presence of eavesdroppers, where the Intelligent Reflective Surface-Unmanned Aerial Vehicle (IRS-UAV) and Buffer-Aided (BA) relaying tec...This paper investigates the secure communication between legitimate users in the presence of eavesdroppers, where the Intelligent Reflective Surface-Unmanned Aerial Vehicle (IRS-UAV) and Buffer-Aided (BA) relaying techniques are utilized to enhance secrecy performance. By jointly optimizing the link selection strategy, the UAV position, and the reflection coefficient of the IRS, we aim to maximize the long-term average secrecy rate. Specifically, we propose a novel buffer in/out stabilization scheme based on the Lyapunov framework, which transforms the long-term average secrecy rate maximization problem into two per-slot drift-plus-penalty minimization problems with different link selection factors. The hybrid Particle Swarm Optimization-Artificial Fish Swarm Algorithm (PSO-AFSA) is adopted to optimize the UAV position, and the IRS reflection coefficient optimization problem is solved by iterative optimization in which auxiliary variables and standard convex optimization algorithms are introduced. Finally, the delay constraint is set to ensure the timeliness of information packets. Simulation results demonstrate that our proposed scheme outperforms the comparison schemes in terms of average secrecy rate. Specifically, the addition of BA improves the average secrecy rate by 1.37 bps/Hz, and the continued optimizations of IRS reflection coefficients and UAV positions improve the average secrecy rate by 2.46 bps/Hz and 3.75 bps/Hz, respectively.展开更多
Against the backdrop of active global responses to climate change and the accelerated green and low-carbon energy transition,the co-optimization and innovative mechanism design of multimodal energy systems have become...Against the backdrop of active global responses to climate change and the accelerated green and low-carbon energy transition,the co-optimization and innovative mechanism design of multimodal energy systems have become a significant instrument for propelling the energy revolution and ensuring energy security.Under increasingly stringent carbon emission constraints,how to achieve multi-dimensional improvements in energy utilization efficiency,renewable energy accommodation levels,and system economics-through the intelligent coupling of diverse energy carriers such as electricity,heat,natural gas,and hydrogen,and the effective application of market-based instruments like carbon trading and demand response-constitutes a critical scientific and engineering challenge demanding urgent solutions.展开更多
Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol ...Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).展开更多
Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmann...Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.展开更多
The stress minimization multi-material topology optimization(MMTO)approach has recently attracted significant attention because of its applications in aerospace and mechanical engineering.Nonetheless,the stress minimi...The stress minimization multi-material topology optimization(MMTO)approach has recently attracted significant attention because of its applications in aerospace and mechanical engineering.Nonetheless,the stress minimization MMTO approach may result in stress surpassing the material's tolerance limit,potentially culminating in failure.This research proposes a novel way for imposing stress constraints on each material to regulate their respective stress levels.The fundamental concept is that each material possesses its own interpolation function for the stress model.The maximum von Mises stress for each material can be established with the definition of an upper limit,ensuring that the materials will perform safely and effectively.This aids topological structures in resisting failure and augmenting strength.A multi-physics system including thermoelastic and self-weight loads is concurrently examined alongside stress limitations.The global stress constraint utilizes the p-norm function,and the adjoint method is used to derive sensitivity.This work employs a three-field strategy utilizing density filtering and Heaviside projection functions to mitigate the artificial stress in low density.The technique is assessed through two-dimensional(2D)and three-dimensional(3D)examples,illustrating the influence of stress limits on the compliance minimization under heat and self-weight loads.The optimized results indicate a substantial decrease in the stress levels accompanied by a minor gain in compliance,while maintaining the stress within the specified range for all materials.展开更多
Addressing the limitations of inadequate stochastic disturbance characterization during wind turbine degradation processes that result in constrained modeling accuracy,replacement-based maintenance practices that devi...Addressing the limitations of inadequate stochastic disturbance characterization during wind turbine degradation processes that result in constrained modeling accuracy,replacement-based maintenance practices that deviate from actual operational conditions,and static maintenance strategies that fail to adapt to accelerated deterioration trends leading to suboptimal remaining useful life utilization,this study proposes a Time-Based Incomplete Maintenance(TBIM)strategy incorporating reliability constraints through stochastic differential equations(SDE).By quantifying stochastic interference via Brownian motion terms and characterizing nonlinear degradation features through state influence rate functions,a high-precision SDE degradation model is constructed,achieving 16%residual reduction compared to conventional ordinary differential equation(ODE)methods.The introduction of age reduction factors and failure rate growth factors establishes an incomplete maintenance mechanism that transcends traditional“as-good-as-new”assumptions,with the TBIM model demonstrating an additional 8.5%residual reduction relative to baseline SDE approaches.A dynamic maintenance interval optimization model driven by dual parameters—preventive maintenance threshold R_(p) and replacement threshold R_(r)—is designed to achieve synergistic optimization of equipment reliability and maintenance economics.Experimental validation demonstrates that the optimized TBIM extends equipment lifespan by 4.4%and reducesmaintenance costs by 4.16%at R_(p)=0.80,while achieving 17.2%lifespan enhancement and 14.6%cost reduction at R_(p)=0.90.This methodology provides a solution for wind turbine preventive maintenance that integrates condition sensitivity with strategic foresight.展开更多
An approach is proposed for modeling and anal- yses of rigid multibody systems with frictional translation joints and driving constraints. The geometric constraints of translational joints with small clearance are tre...An approach is proposed for modeling and anal- yses of rigid multibody systems with frictional translation joints and driving constraints. The geometric constraints of translational joints with small clearance are treated as bilat- eral constraints by neglecting the impact between sliders and guides. Firstly, the normal forces acting on sliders, the driv- ing constraint forces （or moments） and the constraint forces of smooth revolute joints are all described by complementary conditions. The frictional contacts are characterized by a set- valued force law of Coulomb＇s dry friction. Combined with the theory of the horizontal linear complementarity problem （HLCP）, an event-driven scheme is used to detect the transi- tions of the contact situation between sliders and guides, and the stick-slip transitions of sliders, respectively. And then, all constraint forces in the system can be computed easily. Secondly, the dynamic equations of multibody systems are written at the acceleration-force level by the Lagrange multiplier technique, and the Baumgarte stabilization method is used to reduce the constraint drift. Finally, a numerical example is given to show some non-smooth dynamical behaviors of the studied system. The obtained results validate the feasibility of algorithm and the effect of constraint stabilization.展开更多
In this paper,an adaptive neural-network(NN)output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics,input saturation and state constraints.Neu...In this paper,an adaptive neural-network(NN)output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics,input saturation and state constraints.Neural networks are used to approximate unknown internal dynamics and an adaptive NN state observer is developed to estimate immeasurable states.Under the framework of the backstepping design,by employing the actor-critic architecture and constructing the tan-type Barrier Lyapunov function(BLF),the virtual and actual optimal controllers are developed.In order to accomplish optimal control effectively,a simplified reinforcement learning(RL)algorithm is designed by deriving the updating laws from the negative gradient of a simple positive function,instead of employing existing optimal control methods.In addition,to ensure that all the signals in the closed-loop system are bounded and the output can follow the reference signal within a bounded error,all state variables are confined within their compact sets all times.Finally,a simulation example is given to illustrate the effectiveness of the proposed control strategy.展开更多
In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman co...In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.展开更多
Abstract--In this paper, an adaptive neural network (NN) control approach is proposed for nonlinear pure-feedback sys- tems with time-varying full state constraints. The pure-feedback systems of this paper are assumed...Abstract--In this paper, an adaptive neural network (NN) control approach is proposed for nonlinear pure-feedback sys- tems with time-varying full state constraints. The pure-feedback systems of this paper are assumed to possess nonlinear function uncertainties. By using the mean value theorem, pure-feedback systems can be transformed into strict feedback forms. For the newly generated systems, NNs are employed to approximate unknown items. Based on the adaptive control scheme and backstepping algorithm, an intelligent controller is designed. At the same time, time-varying Barrier Lyapunov functions (BLFs) with error variables are adopted to avoid violating full state constraints in every step of the backstepping design. All closed- loop signals are uniformly ultimately bounded and the output tracking error converges to the neighborhood of zero, which can be verified by using the Lyapunov stability theorem. Two simulation examples reveal the performance of the adaptive NN control approach. Index TermsmAdaptive control, neural networks (NNs), non- linear pure-feedback systems, time-varying constraints.展开更多
In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(K...In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(KCL),equality constraints should be used to handle these buses in a state estimation model.It is a challenge to ensure that these zero injection constraints can be strictly satisfied without losing computational efficiency.展开更多
In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties an...In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties and input deadzone,the neural network technique is introduced because of its capability in approximation.In order to update the weights of the neural network,an adaptive control method is utilized to improve the system adaptability.Furthermore,the integral barrier Lyapunov function(IBLF)is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors.The Lyapunov direct method is applied in the control design to analyze system stability and convergence.Finally,numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.展开更多
The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are con...The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.展开更多
Based on bounded network-induced time-delay, the networked control system is modeled as a linear time-variant singular system. Using the Lyapunov theory and the linear matrix inequality approach, the criteria for dela...Based on bounded network-induced time-delay, the networked control system is modeled as a linear time-variant singular system. Using the Lyapunov theory and the linear matrix inequality approach, the criteria for delay-independent stability and delay-dependent stability of singular networked control systems are derived and transformed to a feasibility problem of linear matrix inequality formulation, which can be solved by the Matlab LMI toolbox, and the feasible solutions provide the maximum allowable delay bound that makes the system stable. A numerical example is provided, which shows that the analysis method is valid and the stability criteria are feasible.展开更多
In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force o...In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators.The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed. The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts. Vertical and transverse forces as well as a rotational moment are applied at the rigid body, and resonances excited in elastic mounts and the supporting plate are analyzed. The overall isolation performance is evaluated by numerical simulation. The simulation results are then compared with those obtained using unconstrained control strategies. In addition, the effects of waves in elastic mounts are analyzed. It is shown that the control strategies which rely on tmconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. In the frequency range in which rigid body modes are present, the control strategies can only achieve 5-10 dB power transmission reduction, when control forces are constrained to be the same order of the magnitude as the primary vertical force. The resonances of the elastic mounts result in a notable increase of power transmission in high frequency range and cannot be attenuated by active control. The investigation provides a guideline for design and evaluation of active vibration isolation systems.展开更多
In this paper,an Unmanned Aerial Vehicle(UAV)enabled Mobile Edge Computing(MEC)system is studied,in which UAV acts as server to offer computing offloading service to the Mobile Users(MUs)with limited computing capabil...In this paper,an Unmanned Aerial Vehicle(UAV)enabled Mobile Edge Computing(MEC)system is studied,in which UAV acts as server to offer computing offloading service to the Mobile Users(MUs)with limited computing capability and energy budget.We aim to minimize the total energy consumption of MUs by jointly optimizing the bit allocation for uplink,computing at the UAV and downlink,along with the UAV trajectory in a unified framework.To this end,a trajectory constraint model is employed to avoid sudden changes of velocity and acceleration during flying.Due to high-order information in use,we lead to a more reasonable nonconvex optimization problem than prior arts.An Alternating Direction Method of Multipliers(ADMM)method is introduced to solve the optimization problem,which is decomposed into a set of easy subproblems,to meet the requirement on the efficiency in edge computing.Numerical results demonstrate that our approach leads a smoother UAV trajectory,significantly save the energy consumption for UAV during flying.展开更多
基金supported by the National Key Research and Development Program of China(No.2022YFB3706704)the Academician Special Science Research Project of CCCC(No.YSZX-03-2022-01-B).
文摘To investigate the influence of different longitudinal constraint systems on the longitudinal displacement at the girder ends of a three-tower suspension bridge,this study takes the Cangrong Xunjiang Bridge as an engineering case for finite element analysis.This bridge employs an unprecedented tower-girder constraintmethod,with all vertical supports placed at the transition piers at both ends.This paper aims to study the characteristics of longitudinal displacement control at the girder ends under this novel structure,relying on finite element(FE)analysis.Initially,based on the Weigh In Motion(WIM)data,a random vehicle load model is generated and applied to the finite elementmodel.Several longitudinal constraint systems are proposed,and their effects on the structural response of the bridge are compared.The most reasonable system,balancing girder-end displacement and transitional pier stress,is selected.Subsequently,the study examines the impact of different viscous damper parameters on key structural response indicators,including cumulative longitudinal displacement at the girder ends,maximum longitudinal displacement at the girder ends,cumulative longitudinal displacement at the pier tops,maximum longitudinal displacement at the pier tops,longitudinal acceleration at the pier tops,and maximum bending moment at the pier bottoms.Finally,the coefficient of variation(CV)-TOPSIS method is used to optimize the viscous damper parameters for multiple objectives.The results show that adding viscous dampers at the side towers,in addition to the existing longitudinal limit bearings at the central tower,can most effectively reduce the response of structural indicators.The changes in these indicators are not entirely consistent with variations in damping coefficient and velocity exponent.The damper parameters significantly influence cumulative longitudinal displacement at the girder ends,cumulative longitudinal displacement at the pier tops,and maximum bending moments at the pier bottoms.The optimal damper parameters are found to be a damping coefficient of 5000 kN/(m/s)0.2 and a velocity exponent of 0.2.
文摘This paper proposes a constructive approach to solving geometric constraint systems.The approach incorporates graph-based and rule-based approaches, and achieves interactive speed.The paper presents a graph representation of geometric conStraint syStems, and discusses in detailthe algorithm of geometric reasoning based on poinl-cluster reduction. An example is made forillustration.
基金supported in part by the National Natural Science Foundation of China(62025303,62173173)。
文摘Dear Editor,In this letter,a novel adaptive control design problem for uncertain nonlinear multi-input-multi-output(MIMO)systems with time-varying full state constraints is proposed,where the considered systems consist of various subsystems,and the states of each subsystem are interconnected tightly.It is universally acknowledged that in the existing researches with state constraints,system constraint bounds are always constants or time-varying functions.
文摘Based on the dynamic equation, the performance functional and the system constraint equation of time-invariant discrete LQ control problem, the generalized Riccati equations of linear equality constraint system are obtained according to the minimum principle, then a deep discussion about the above equations is given, and finally numerical example is shown in this paper.
基金co-supported by the National Natural Science Foundation of China(Nos.62271399,61901015,GNA22001 and GAA20024)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F010003).
文摘This paper investigates the secure communication between legitimate users in the presence of eavesdroppers, where the Intelligent Reflective Surface-Unmanned Aerial Vehicle (IRS-UAV) and Buffer-Aided (BA) relaying techniques are utilized to enhance secrecy performance. By jointly optimizing the link selection strategy, the UAV position, and the reflection coefficient of the IRS, we aim to maximize the long-term average secrecy rate. Specifically, we propose a novel buffer in/out stabilization scheme based on the Lyapunov framework, which transforms the long-term average secrecy rate maximization problem into two per-slot drift-plus-penalty minimization problems with different link selection factors. The hybrid Particle Swarm Optimization-Artificial Fish Swarm Algorithm (PSO-AFSA) is adopted to optimize the UAV position, and the IRS reflection coefficient optimization problem is solved by iterative optimization in which auxiliary variables and standard convex optimization algorithms are introduced. Finally, the delay constraint is set to ensure the timeliness of information packets. Simulation results demonstrate that our proposed scheme outperforms the comparison schemes in terms of average secrecy rate. Specifically, the addition of BA improves the average secrecy rate by 1.37 bps/Hz, and the continued optimizations of IRS reflection coefficients and UAV positions improve the average secrecy rate by 2.46 bps/Hz and 3.75 bps/Hz, respectively.
文摘Against the backdrop of active global responses to climate change and the accelerated green and low-carbon energy transition,the co-optimization and innovative mechanism design of multimodal energy systems have become a significant instrument for propelling the energy revolution and ensuring energy security.Under increasingly stringent carbon emission constraints,how to achieve multi-dimensional improvements in energy utilization efficiency,renewable energy accommodation levels,and system economics-through the intelligent coupling of diverse energy carriers such as electricity,heat,natural gas,and hydrogen,and the effective application of market-based instruments like carbon trading and demand response-constitutes a critical scientific and engineering challenge demanding urgent solutions.
基金supported by the National Nature Science Foundation of China(U21A20166)the Science and Technology Development Foundation of Jilin Province(20230508095RC)+2 种基金the Major Science and Technology Projects of Jilin Province and Changchun City(20220301033GX)the Development and Reform Commission Foundation of Jilin Province(2023C034-3)the Interdisciplinary Integration and Innovation Project of JLU(JLUXKJC2020202).
文摘Dear Editor,Aiming at the consensus tracking problem of a class of unknown heterogeneous nonlinear multiagent systems(MASs)with input constraints,a novel data-driven iterative learning consensus control(ILCC)protocol based on zeroing neural networks(ZNNs)is proposed.First,a dynamic linearization data model(DLDM)is acquired via dynamic linearization technology(DLT).
基金supported in part by the National Natural Science Foundation of China(62073301,62373162,62473349,U24A20268,62233007)the Shenzhen Science and Technology Program(JCYJ20240813114007010).
文摘Dear Editor,This letter investigates the problem of multi-dimension formation tracking(MDFT)for the cross-domain unmanned systems,including several interconnected agents,namely,unmanned aerial vehicles(UAVs)and unmanned surface vehicles(USVs).We assume that each agent suffers from by the mixed constraints on its velocity,control input and Euler angle.Solving the MDFT problem implies that 1)The virtual state of each USV is determined in the earth coordinate by expanding its 2D work space to the 3D space.
基金Project supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.RS-2025-02303676)。
文摘The stress minimization multi-material topology optimization(MMTO)approach has recently attracted significant attention because of its applications in aerospace and mechanical engineering.Nonetheless,the stress minimization MMTO approach may result in stress surpassing the material's tolerance limit,potentially culminating in failure.This research proposes a novel way for imposing stress constraints on each material to regulate their respective stress levels.The fundamental concept is that each material possesses its own interpolation function for the stress model.The maximum von Mises stress for each material can be established with the definition of an upper limit,ensuring that the materials will perform safely and effectively.This aids topological structures in resisting failure and augmenting strength.A multi-physics system including thermoelastic and self-weight loads is concurrently examined alongside stress limitations.The global stress constraint utilizes the p-norm function,and the adjoint method is used to derive sensitivity.This work employs a three-field strategy utilizing density filtering and Heaviside projection functions to mitigate the artificial stress in low density.The technique is assessed through two-dimensional(2D)and three-dimensional(3D)examples,illustrating the influence of stress limits on the compliance minimization under heat and self-weight loads.The optimized results indicate a substantial decrease in the stress levels accompanied by a minor gain in compliance,while maintaining the stress within the specified range for all materials.
基金supported in part by the National Natural Science Foundation of China(No.52467008)Gansu Provincial Depatment of Education Youth Doctoral Suppo Project(2024QB-051).
文摘Addressing the limitations of inadequate stochastic disturbance characterization during wind turbine degradation processes that result in constrained modeling accuracy,replacement-based maintenance practices that deviate from actual operational conditions,and static maintenance strategies that fail to adapt to accelerated deterioration trends leading to suboptimal remaining useful life utilization,this study proposes a Time-Based Incomplete Maintenance(TBIM)strategy incorporating reliability constraints through stochastic differential equations(SDE).By quantifying stochastic interference via Brownian motion terms and characterizing nonlinear degradation features through state influence rate functions,a high-precision SDE degradation model is constructed,achieving 16%residual reduction compared to conventional ordinary differential equation(ODE)methods.The introduction of age reduction factors and failure rate growth factors establishes an incomplete maintenance mechanism that transcends traditional“as-good-as-new”assumptions,with the TBIM model demonstrating an additional 8.5%residual reduction relative to baseline SDE approaches.A dynamic maintenance interval optimization model driven by dual parameters—preventive maintenance threshold R_(p) and replacement threshold R_(r)—is designed to achieve synergistic optimization of equipment reliability and maintenance economics.Experimental validation demonstrates that the optimized TBIM extends equipment lifespan by 4.4%and reducesmaintenance costs by 4.16%at R_(p)=0.80,while achieving 17.2%lifespan enhancement and 14.6%cost reduction at R_(p)=0.90.This methodology provides a solution for wind turbine preventive maintenance that integrates condition sensitivity with strategic foresight.
基金supported by the National Natural Science Foundation of China(11372018 and 11172019)
文摘An approach is proposed for modeling and anal- yses of rigid multibody systems with frictional translation joints and driving constraints. The geometric constraints of translational joints with small clearance are treated as bilat- eral constraints by neglecting the impact between sliders and guides. Firstly, the normal forces acting on sliders, the driv- ing constraint forces （or moments） and the constraint forces of smooth revolute joints are all described by complementary conditions. The frictional contacts are characterized by a set- valued force law of Coulomb＇s dry friction. Combined with the theory of the horizontal linear complementarity problem （HLCP）, an event-driven scheme is used to detect the transi- tions of the contact situation between sliders and guides, and the stick-slip transitions of sliders, respectively. And then, all constraint forces in the system can be computed easily. Secondly, the dynamic equations of multibody systems are written at the acceleration-force level by the Lagrange multiplier technique, and the Baumgarte stabilization method is used to reduce the constraint drift. Finally, a numerical example is given to show some non-smooth dynamical behaviors of the studied system. The obtained results validate the feasibility of algorithm and the effect of constraint stabilization.
基金This work was supported by National Natural Science Foundation of China(61822307,61773188).
文摘In this paper,an adaptive neural-network(NN)output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics,input saturation and state constraints.Neural networks are used to approximate unknown internal dynamics and an adaptive NN state observer is developed to estimate immeasurable states.Under the framework of the backstepping design,by employing the actor-critic architecture and constructing the tan-type Barrier Lyapunov function(BLF),the virtual and actual optimal controllers are developed.In order to accomplish optimal control effectively,a simplified reinforcement learning(RL)algorithm is designed by deriving the updating laws from the negative gradient of a simple positive function,instead of employing existing optimal control methods.In addition,to ensure that all the signals in the closed-loop system are bounded and the output can follow the reference signal within a bounded error,all state variables are confined within their compact sets all times.Finally,a simulation example is given to illustrate the effectiveness of the proposed control strategy.
文摘In this paper the Lie-form invariance of the non-holonomic systems with unilateral constraints is studied. The definition and the criterion of the Lie-form invariance of the system are given. The generalized Hojman conserved quantity and a new type of conserved quantity deduced from the Lie-form invariance are obtained. Finally, an example is presented to illustrate the application of the results.
基金supported in part by the National Natural Science Foundation of China(61622303,61603164,61773188)the Program for Liaoning Innovative Research Team in University(LT2016006)+1 种基金the Fundamental Research Funds for the Universities of Liaoning Province(JZL201715402)the Program for Distinguished Professor of Liaoning Province
文摘Abstract--In this paper, an adaptive neural network (NN) control approach is proposed for nonlinear pure-feedback sys- tems with time-varying full state constraints. The pure-feedback systems of this paper are assumed to possess nonlinear function uncertainties. By using the mean value theorem, pure-feedback systems can be transformed into strict feedback forms. For the newly generated systems, NNs are employed to approximate unknown items. Based on the adaptive control scheme and backstepping algorithm, an intelligent controller is designed. At the same time, time-varying Barrier Lyapunov functions (BLFs) with error variables are adopted to avoid violating full state constraints in every step of the backstepping design. All closed- loop signals are uniformly ultimately bounded and the output tracking error converges to the neighborhood of zero, which can be verified by using the Lyapunov stability theorem. Two simulation examples reveal the performance of the adaptive NN control approach. Index TermsmAdaptive control, neural networks (NNs), non- linear pure-feedback systems, time-varying constraints.
文摘In actual power systems,most of the high-voltage buses of the transformers are zero injection buses without load or generation.Power injections into these buses are strictly 0,so based on Kirchhoff's current law(KCL),equality constraints should be used to handle these buses in a state estimation model.It is a challenge to ensure that these zero injection constraints can be strictly satisfied without losing computational efficiency.
基金supported by the National Natural Science Foundation of China(61803085,61806052,U1713209)the Natural Science Foundation of Jiangsu Province of China(BK20180361)
文摘In this paper,a study of control for an uncertain2-degree of freedom(DOF)helicopter system is given.The2-DOF helicopter is subject to input deadzone and output constraints.In order to cope with system uncertainties and input deadzone,the neural network technique is introduced because of its capability in approximation.In order to update the weights of the neural network,an adaptive control method is utilized to improve the system adaptability.Furthermore,the integral barrier Lyapunov function(IBLF)is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors.The Lyapunov direct method is applied in the control design to analyze system stability and convergence.Finally,numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.
基金supported by the National Natural Science Foundation of China(Nos.11132007,11272155,and 10772085)the Fundamental Research Funds for the Central Universities(No.30920130112009)the 333 Project of Jiangsu Province of China(No.BRA2011172)
文摘The impact dynamics of a flexible multibody system is investigated. By using a partition method, the system is divided into two parts, the local impact region and the region away from the impact. The two parts are connected by specific boundary conditions, and the system after partition is equivalent to the original system. According to the rigid-flexible coupling dynamic theory of multibody system, system＇s rigid-flexible coupling dynamic equations without impact are derived. A local impulse method for establishing the initial impact conditions is proposed. It satisfies the compatibility con- ditions for contact constraints and the actual physical situation of the impact process of flexible bodies. Based on the contact constraint method, system＇s impact dynamic equa- tions are derived in a differential-algebraic form. The contact/separation criterion and the algorithm are given. An impact dynamic simulation is given. The results show that system＇s dynamic behaviors including the energy, the deformations, the displacements, and the impact force during the impact process change dramatically. The impact makes great effects on the global dynamics of the system during and after impact.
基金the National Natural Science Foundation of China (60574011)the National Natural Science Foundation of Liaoning Province (2050770).
文摘Based on bounded network-induced time-delay, the networked control system is modeled as a linear time-variant singular system. Using the Lyapunov theory and the linear matrix inequality approach, the criteria for delay-independent stability and delay-dependent stability of singular networked control systems are derived and transformed to a feasibility problem of linear matrix inequality formulation, which can be solved by the Matlab LMI toolbox, and the feasible solutions provide the maximum allowable delay bound that makes the system stable. A numerical example is provided, which shows that the analysis method is valid and the stability criteria are feasible.
基金Supported by National Natural Science Foundation of China(Grant No.51174126)
文摘In the prediction of active vibration isolation performance, control force requirements were ignored in previous work. This may limit the realization of theoretically predicted isolation performance if control force of large magnitude cannot be supplied by actuators.The behavior of a feed-forward active isolation system subjected to actuator output constraints is investigated. Distributed parameter models are developed to analyze the system response, and to produce a transfer matrix for the design of an integrated passive-active isolation system. Cost functions comprising a combination of the vibration transmission energy and the sum of the squared control forces are proposed. The example system considered is a rigid body connected to a simply supported plate via two passive-active isolation mounts. Vertical and transverse forces as well as a rotational moment are applied at the rigid body, and resonances excited in elastic mounts and the supporting plate are analyzed. The overall isolation performance is evaluated by numerical simulation. The simulation results are then compared with those obtained using unconstrained control strategies. In addition, the effects of waves in elastic mounts are analyzed. It is shown that the control strategies which rely on tmconstrained actuator outputs may give substantial power transmission reductions over a wide frequency range, but also require large control force amplitudes to control excited vibration modes of the system. Expected power transmission reductions for modified control strategies that incorporate constrained actuator outputs are considerably less than typical reductions with unconstrained actuator outputs. In the frequency range in which rigid body modes are present, the control strategies can only achieve 5-10 dB power transmission reduction, when control forces are constrained to be the same order of the magnitude as the primary vertical force. The resonances of the elastic mounts result in a notable increase of power transmission in high frequency range and cannot be attenuated by active control. The investigation provides a guideline for design and evaluation of active vibration isolation systems.
基金the Defense Industrial Technology Development Program of China(No.JCKY2017601C006)the National Key Research and Development Program of China(No.2016YFB0502602)+1 种基金the National Natural Science Foundation of China(No.91538204)in part supported by Shenzhen Science and Technology Program,China(No.KQTD2016112515134654)。
文摘In this paper,an Unmanned Aerial Vehicle(UAV)enabled Mobile Edge Computing(MEC)system is studied,in which UAV acts as server to offer computing offloading service to the Mobile Users(MUs)with limited computing capability and energy budget.We aim to minimize the total energy consumption of MUs by jointly optimizing the bit allocation for uplink,computing at the UAV and downlink,along with the UAV trajectory in a unified framework.To this end,a trajectory constraint model is employed to avoid sudden changes of velocity and acceleration during flying.Due to high-order information in use,we lead to a more reasonable nonconvex optimization problem than prior arts.An Alternating Direction Method of Multipliers(ADMM)method is introduced to solve the optimization problem,which is decomposed into a set of easy subproblems,to meet the requirement on the efficiency in edge computing.Numerical results demonstrate that our approach leads a smoother UAV trajectory,significantly save the energy consumption for UAV during flying.
