In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data be...In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.展开更多
This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only b...This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.展开更多
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control....Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.展开更多
A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increme...A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.展开更多
Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that t...Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored.In this paper,an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed.Based on the robot rigid-body dynamic model,a feedforward controller considering the dynamic nonlinearity is presented.An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square(RMS)of the joint errors at each cycle.The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator.This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics,which has better extrapolation capability in the whole workspace of manipulators.展开更多
Background:This article examines the impact of the release of Wolbachia-infected population replacement mosquitoes as an innovative strategy for managing and controlling dengue in the Americas,using an approach based ...Background:This article examines the impact of the release of Wolbachia-infected population replacement mosquitoes as an innovative strategy for managing and controlling dengue in the Americas,using an approach based on the system dynamics methodology.The introduction of Wolbachia-carrying mosquitoes aims to reduce dengue transmission by interfering with the reproductive capacity of mosquitoes,thus limiting the spread of the virus.Objective:the objective of this study is to analyze how this intervention affects not only the incidence of dengue but also the health care system,evaluating changes in the demand for medical services and the costs associated with treatment in health care institutions.Specifically,it looks at the cost per visit to an Epidemiologist,a Family Doctor,diagnostic tests,and hospitalization.Methods:the study uses simulation scenarios to model the potential impact of the Wolbachia-based intervention in reducing dengue cases and its associated health and economic burden.The scenarios also assess the optimization of resources and improvements in the health system’s response to epidemic outbreaks.The simulation model utilizes real data from the Americas region to enhance the accuracy and relevance of the results.Conclusion:The results the potential of the release of Wolbachia-carrying mosquitoes to significantly mitigate the health and economic burden of dengue,with a maximum saving of 60.15%in the best simulation scenario.The approach not only highlights scientific innovation but also demonstrates its potential influence on public policy design.The findings support the implementation of sustainable strategies to maximize the benefits of this intervention and ensure its effective integration into public health programs,contributing to better long-term dengue management.展开更多
Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we ...Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we propose a magnetized plasma platform for dynamic THz polarization control by exploiting the intrinsic birefringence between extraordinary and ordinary modes.We identify a strong-magnetization,zero-group-velocity-mismatch regime where the two modes share matched group velocities while retaining finite phase birefringence,enabling robust,phase-stable spin angular momentum control.By tuning the plasma length and magnetic field,we realize programmable phase retardation and demonstrate universal single-qubit gates through parameterized unitary operations.Full-wave particle-in-cell simulations validate high-fidelity polarization transformations across the Poincarésphere and demonstrate the potential for generating structured vector beams under spatially varying magnetic fields.The platform offers ultrafast response,resilience to extreme THz intensities,and in situ tunability,positioning magnetized plasmas as a versatile and damage-resilient medium for next-generation THz polarization control and structured-wave applications.展开更多
A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage c...A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.展开更多
The Propellant Feed System(PFS)is a crucial component of Electric Propulsion System(EPS)which is widely used in satellites for its high reliability and specific impulse.The Switching and Proportional Hybrid-controlled...The Propellant Feed System(PFS)is a crucial component of Electric Propulsion System(EPS)which is widely used in satellites for its high reliability and specific impulse.The Switching and Proportional Hybrid-controlled Xenon Feed System(SPHXFS)is a novel type of PFS with high flow regulation precision.This study develops a system-level simulation model with 75 components for the SPHXFS.The accuracy of the model is validated through the comparison with test data,showing an error of less than 3%during the startup phase and less than 0.1%after stabilization.The study analyzes the startup process and finds that the two-stage pressure reduction system avoids two-phase flow interference downstream,achieving a regulation accuracy of±0.1%.A long-term operation simulation of the system is conducted,revealing that pressure fluctuations occur upstream at 4767 s due to Bang-Bang control.However,with proportional control adjustments,these fluctuations do not affect the flow supply.Further research examines the impact of synchronous and asynchronous control modes of the Bang-Bang Valve(TPBBV)under the tank pressures of 6-10 MPa on the system's dynamic characteristics.It is found that the asynchronous control scheme results in a flow supply settling time that is 7.2-10s longer than the synchronous control scheme,with an overshoot increase of 4.1%-4.9%.These insights provide valuable reference and guidance for system optimization design and the formulation of operational strategies.展开更多
This paper presents a comprehensive overview of distributed Nash equilibrium(NE)seeking algorithms in non-cooperative games for multiagent systems(MASs),with a distinct emphasis on the dynamic control perspective.It s...This paper presents a comprehensive overview of distributed Nash equilibrium(NE)seeking algorithms in non-cooperative games for multiagent systems(MASs),with a distinct emphasis on the dynamic control perspective.It specifically focuses on the research addressing distributed NE seeking problems in which agents are governed by heterogeneous dynamics.The paper begins by introducing fundamental concepts of general non-cooperative games and the NE,along with definitions of specific game structures such as aggregative games and multi-cluster games.It then systematically reviews existing studies on distributed NE seeking for various classes of MASs from the viewpoint of agent dynamics,including first-order,second-order,high-order,linear,and Euler-Lagrange(EL)systems.Furthermore,the paper highlights practical applications of these theoretical advances in cooperative control scenarios involving autonomous systems with complex dynamics,such as autonomous surface vessels,autonomous aerial vehicles,and other autonomous vehicles.Finally,the paper outlines several promising directions for future research.展开更多
Construction project construction stage requires effective change visa management and dynamic cost control.This paper defines both,presents related theories,and details challenges in traditional methods.It then propos...Construction project construction stage requires effective change visa management and dynamic cost control.This paper defines both,presents related theories,and details challenges in traditional methods.It then proposes an integrated model with system architecture,functional modules,and practical strategies like BIM integrated workflows.A case study validates the effectiveness,and future research on AI enhanced change prediction and blockchain based audit trails is suggested.展开更多
This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,t...This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.展开更多
Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found im...Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found important applications in endomicroscopy and biomedical imaging.The potential of this versatile tool for monolithic manufacturing of dynamic micro-opto-electro-mechanical systems(MOEMSs),however,has not yet been sufficiently explored.This work introduces a 3D-nanoprinted lens actuator with a large optical aperture,optimized for remote focusing in miniaturized imaging systems.The device integrates orthoplanar linear motion springs,a self-aligned sintered micro-magnet,and a monolithic lens,actuated by dual microcoils for uniaxial motion.The use of 3D nanoprinting allows complete design freedom for the integrated optical lens,whereas the monolithic fabrication ensures inherent alignment of the lens with the mechanical elements.With a lens diameter of 1.4 mm and a compact footprint of 5.74 mm,it achieves high mechanical robustness at resonant frequencies exceeding 300 Hz while still providing a large displacement range of 200μm(±100μm).A comprehensive analysis of optical and mechanical performance,including the effects of coil temperature and polymer viscoelasticity,demonstrates its advantages over conventional micro-electro-mechanical system actuators,showcasing its potential for next-generation imaging applications.展开更多
With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our resu...With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.展开更多
1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki ...1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.展开更多
We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditio...We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the 'explosion of terms' that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.展开更多
The human-induced vertical vibration serviceability of low-frequency and lightweight footbridges is studied based on the moving mass-spring-damper（MMSD） biodynamic model, and the mass damper（TMD） with different op...The human-induced vertical vibration serviceability of low-frequency and lightweight footbridges is studied based on the moving mass-spring-damper（MMSD） biodynamic model, and the mass damper（TMD） with different optimal model parameters being used to control the vertical vibration.First, the MMSD biodynamic model is employed to simulate the pedestrians, and the time-varying control equations of the vertical dynamic coupling system of the pedestrian-bridgeTMD are established with the consideration of pedestrianbridge dynamic interaction; and the equations are solved by using the Runge-Kutta-Felhberg integral method with variable step size. Secondly, the footbridge dynamic response is calculated under the model of pedestrian-structure dynamic interaction and the model of moving load when the pedestrian pace frequency is consistent with the natural frequency of footbridge. Finally, a comparative study and analysis are made on the control effects of the vertical dynamic coupling system in different optimal models of the TMD. The calculation results show that the pedestrian-bridge dynamic interaction cannot be ignored when the vertical human-induced vibration serviceability of low-frequency and light-weight footbridge is evaluated. The TMD can effectively reduce the vibration under the resonance of pedestrian-bridge, and TMD parameters are recommended for the determination by the Warburton optimization model.展开更多
A novel dynamically controlled plasma arc welding process was introduced,which is able tominimize heat input into the workpiece materials while maintaining desired full penetration,and it was used to weld Ti-6Al-4V al...A novel dynamically controlled plasma arc welding process was introduced,which is able tominimize heat input into the workpiece materials while maintaining desired full penetration,and it was used to weld Ti-6Al-4V alloy sheets.The microstructures,facture surfaces and microhardness of the welded joints were characterized by using optical microscope,scanning electron microscope （SEM） and Vickers microhardness tester.Comparing with welds such as gas tungsten arc and conventional plasma arc processes,the experimental results revealed the improvements when using the present process including：1） reducing prior-beta （β） grain size and prohibiting formation of hard martensite phases in the fusion zone due to the decreased heat input;and 2） better toughness and higher hardness.展开更多
IGBT with high switching speed is described based on the dynamic controlled anode- short,which incorpo- rates a normally- on,p- MOSFET controlled by the anode voltage indirectly.This device works just as normal when ...IGBT with high switching speed is described based on the dynamic controlled anode- short,which incorpo- rates a normally- on,p- MOSFET controlled by the anode voltage indirectly.This device works just as normal when it is in on- state since the channel of the p- MOSFET is pinched- off.During the course of turning off,the channel of the p- MOSFET will prevent the injection of m inorities and introduce an extra access for the carriers to flow to the anode directly,which m akes the IGBT reach its off- state in a shorter time.The simulation results prove that the new structure can reduce the turn- off time by m ore than75 % compared with the normal one under the same break- down voltage and on- state perform ance.Only two more resistors are needed when using this structure,and the re- quirement of the drive circuits is just the sam e as normal.展开更多
基金supported in part by the National Natural Science Foundation of China(62125306)Zhejiang Key Research and Development Project(2024C01163)the State Key Laboratory of Industrial Control Technology,China(ICT2024A06)
文摘In recent decades,control performance monitoring(CPM)has experienced remarkable progress in research and industrial applications.While CPM research has been investigated using various benchmarks,the historical data benchmark(HIS)has garnered the most attention due to its practicality and effectiveness.However,existing CPM reviews usually focus on the theoretical benchmark,and there is a lack of an in-depth review that thoroughly explores HIS-based methods.In this article,a comprehensive overview of HIS-based CPM is provided.First,we provide a novel static-dynamic perspective on data-level manifestations of control performance underlying typical controller capacities including regulation and servo:static and dynamic properties.The static property portrays time-independent variability in system output,and the dynamic property describes temporal behavior driven by closed-loop feedback.Accordingly,existing HIS-based CPM approaches and their intrinsic motivations are classified and analyzed from these two perspectives.Specifically,two mainstream solutions for CPM methods are summarized,including static analysis and dynamic analysis,which match data-driven techniques with actual controlling behavior.Furthermore,this paper also points out various opportunities and challenges faced in CPM for modern industry and provides promising directions in the context of artificial intelligence for inspiring future research.
文摘This paper presents an investigation on the target-guided coordinated control(TACC)of unmanned surface vehicles(USVs).In the scenario of tracking non-cooperative targets,the status information of the target can only be obtained by some USVs.In order to achieve semi-encirclement tracking of noncooperative targets under maritime security conditions,a fixed-time tracking control method based on dynamic surface control(DSC)is proposed in this paper.Firstly,a novel TACC architecture with decoupled kinematic control law and decoupled kinetic control law was designed to reduce the complexity of control system design.Secondly,the proposed DSC-based target-guided kinematic control law including tracking points pre-allocation strategy and sigmoid artificial potential functions(SigAPFs)can avoid collisions during tracking process and optimize kinematic control output.Finally,a fixed-time TACC system was proposed to achieve fast convergence of kinematic and kinetics errors.The effectiveness of the proposed TACC approach in improving target tracking safety and reducing control output chattering was verified by simulation comparison results.
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
基金Supported by National Nature Science Foundation of China(Grant Nos.52325212,52372394)National Key Research and Development Program of China(Grant Nos.2022YFE0117100,2021YFB2501201)+1 种基金Industry-University-Research Innovation Fund for Chinese Universities(Grand No.2024HT010)Fundamental Research Funds for the Central Universities.
文摘Chassis-by-wire technology has gained significant attention,with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control.Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems,including distributed drive,all-wheel drive(AWD),brake-by-wire(BBW),steer-by-wire(SBW),rear-wheel steering(RWS),active stabilizer bar(ASB)and active suspension system(ASS),greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations.To advance research in chassis domain control,it is essential to understand how these heterogeneous execution systems influence vehicle dynamics.This paper focuses on the modeling and analysis of the lateral,longitudinal,and vertical chassis control and execution systems,-as well as their impact on vehicle lateral motion.Using a vehicle simulation platform,both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics.Additionally,a hierarchical control architecture was designed to control the vehicle’s lateral stability.The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop(HIL)tests and real-world vehicle testing.
基金Program for New Century Excellent Talents in University (NCET-10-0032)
文摘A closed-loop control allocation method is proposed for a class of aircraft with multiple actuators. Nonlinear dynamic inversion is used to design the baseline attitude controller and derive the desired moment increment. And a feedback loop for the moment increment produced by the deflections of actuators is added to the angular rate loop, then the error between the desired and actual moment increment is the input of the dynamic control allocation. Subsequently, the stability of the closed-loop dynamic control allocation system is analyzed in detail. Especially, the closedloop system stability is also analyzed in the presence of two types of actuator failures： loss of effectiveness and lock-in-place actuator failures, where a fault detection subsystem to identify the actuator failures is absent. Finally, the proposed method is applied to a canard rotor/wing （CRW） aircraft model in fixed-wing mode, which has multiple actuators for flight control. The nonlinear simulation demonstrates that this method can guarantee the stability and tracking performance whether the actuators are healthy or fail.
基金Supported by National Natural Science Foundation of China(Grant No.52375502)EU H2020 MSCA R&I Programme(Grant No.101022696).
文摘Feedforward control is one of the most effective control techniques to increase the robot’s tracking accuracy.However,most of the dynamic models used in the feedforward controllers are linearly simplified such that the nonlinear and time-varying characteristics of dynamics in the workspace are ignored.In this paper,an iterative tuning method for feedforward control of parallel manipulators by taking nonlinear dynamics into account is proposed.Based on the robot rigid-body dynamic model,a feedforward controller considering the dynamic nonlinearity is presented.An iterative tuning method is given to iteratively update the feedforward controller by minimizing the root mean square(RMS)of the joint errors at each cycle.The effectiveness and extrapolation capability of the proposed method are validated through the experiments on a 2-DOF parallel manipulator.This research proposes an iterative tuning method for feedforward control of parallel manipulators considering nonlinear dynamics,which has better extrapolation capability in the whole workspace of manipulators.
文摘Background:This article examines the impact of the release of Wolbachia-infected population replacement mosquitoes as an innovative strategy for managing and controlling dengue in the Americas,using an approach based on the system dynamics methodology.The introduction of Wolbachia-carrying mosquitoes aims to reduce dengue transmission by interfering with the reproductive capacity of mosquitoes,thus limiting the spread of the virus.Objective:the objective of this study is to analyze how this intervention affects not only the incidence of dengue but also the health care system,evaluating changes in the demand for medical services and the costs associated with treatment in health care institutions.Specifically,it looks at the cost per visit to an Epidemiologist,a Family Doctor,diagnostic tests,and hospitalization.Methods:the study uses simulation scenarios to model the potential impact of the Wolbachia-based intervention in reducing dengue cases and its associated health and economic burden.The scenarios also assess the optimization of resources and improvements in the health system’s response to epidemic outbreaks.The simulation model utilizes real data from the Americas region to enhance the accuracy and relevance of the results.Conclusion:The results the potential of the release of Wolbachia-carrying mosquitoes to significantly mitigate the health and economic burden of dengue,with a maximum saving of 60.15%in the best simulation scenario.The approach not only highlights scientific innovation but also demonstrates its potential influence on public policy design.The findings support the implementation of sustainable strategies to maximize the benefits of this intervention and ensure its effective integration into public health programs,contributing to better long-term dengue management.
基金supported by the National Natural Science Foundation of China (Grant Nos. 12175058 and 11921006)the National Grand Instrument Project (No. 2019YFF01014402)the Beijing Distinguished Young Scientist Program and National Grand Instrument Project No. SQ2019YFF01014400
文摘Controlling terahertz(THz)polarization with high stability and tunability is essential for achieving further progress in ultrafast spectroscopy,structured-light manipulation,and quantum information processing.Here,we propose a magnetized plasma platform for dynamic THz polarization control by exploiting the intrinsic birefringence between extraordinary and ordinary modes.We identify a strong-magnetization,zero-group-velocity-mismatch regime where the two modes share matched group velocities while retaining finite phase birefringence,enabling robust,phase-stable spin angular momentum control.By tuning the plasma length and magnetic field,we realize programmable phase retardation and demonstrate universal single-qubit gates through parameterized unitary operations.Full-wave particle-in-cell simulations validate high-fidelity polarization transformations across the Poincarésphere and demonstrate the potential for generating structured vector beams under spatially varying magnetic fields.The platform offers ultrafast response,resilience to extreme THz intensities,and in situ tunability,positioning magnetized plasmas as a versatile and damage-resilient medium for next-generation THz polarization control and structured-wave applications.
基金Supported by National Natural Science Foundation of China(Grant No.52405040)Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No.MSV202514)。
文摘A cable-driven redundant manipulator(CDRM)characterized by redundant degrees of freedom and a lightweight,slender design can perform tasks in confined and restricted spaces efficiently.However,the complex multistage coupling between drive cables and passive joints in CDRM leads to a challenging dynamic model with difficult parameter identification,complicating the efforts to achieve accurate modeling and control.To address these challenges,this paper proposes a dynamic modeling and adaptive control approach tailored for CDRM systems.A multilevel kinematic model of the cable-driven redundant manipulator is presented,and a screw theory is employed to represent the cable tension and cable contact forces as spatial wrenches,which are equivalently mapped to joint torque using the principle of virtual work.This approach simplifies the mapping process while maintaining the integrity of the dynamic model.A recursive method is used to compute cable tension section-by-section for enhancing the efficiency of inverse dynamics calculations and meeting the high-frequency demands of the controller,thereby avoiding large matrix operations.An adaptive control method is proposed building on this foundation,which involves the design of a dynamic parameter adaptive controller in the joint space to simplify the linearization process of the dynamic equations along with a closed-loop controller that incorporates motor parameters in the driving space.This approach improves the control accuracy and dynamic performance of the CDRM under dynamic uncertainties.The accuracy and computational efficiency of the dynamic model are validated through simulations,and the effectiveness of the proposed control method is demonstrated through control tests.This paper presents a dynamic modeling and adaptive control approach for CDRM to enhance accuracy and performance under dynamic uncertainties.
基金supported by the Fundamental Research Funds for the Central Universities,China(No.JKF-2025009442288)the Excellent Youth Team Cultivation Project for Central Universities of the Ministry of Education,China(No.YWF-22/23/24-JT-106)。
文摘The Propellant Feed System(PFS)is a crucial component of Electric Propulsion System(EPS)which is widely used in satellites for its high reliability and specific impulse.The Switching and Proportional Hybrid-controlled Xenon Feed System(SPHXFS)is a novel type of PFS with high flow regulation precision.This study develops a system-level simulation model with 75 components for the SPHXFS.The accuracy of the model is validated through the comparison with test data,showing an error of less than 3%during the startup phase and less than 0.1%after stabilization.The study analyzes the startup process and finds that the two-stage pressure reduction system avoids two-phase flow interference downstream,achieving a regulation accuracy of±0.1%.A long-term operation simulation of the system is conducted,revealing that pressure fluctuations occur upstream at 4767 s due to Bang-Bang control.However,with proportional control adjustments,these fluctuations do not affect the flow supply.Further research examines the impact of synchronous and asynchronous control modes of the Bang-Bang Valve(TPBBV)under the tank pressures of 6-10 MPa on the system's dynamic characteristics.It is found that the asynchronous control scheme results in a flow supply settling time that is 7.2-10s longer than the synchronous control scheme,with an overshoot increase of 4.1%-4.9%.These insights provide valuable reference and guidance for system optimization design and the formulation of operational strategies.
基金National Natural Science Foundation of China(62325304).
文摘This paper presents a comprehensive overview of distributed Nash equilibrium(NE)seeking algorithms in non-cooperative games for multiagent systems(MASs),with a distinct emphasis on the dynamic control perspective.It specifically focuses on the research addressing distributed NE seeking problems in which agents are governed by heterogeneous dynamics.The paper begins by introducing fundamental concepts of general non-cooperative games and the NE,along with definitions of specific game structures such as aggregative games and multi-cluster games.It then systematically reviews existing studies on distributed NE seeking for various classes of MASs from the viewpoint of agent dynamics,including first-order,second-order,high-order,linear,and Euler-Lagrange(EL)systems.Furthermore,the paper highlights practical applications of these theoretical advances in cooperative control scenarios involving autonomous systems with complex dynamics,such as autonomous surface vessels,autonomous aerial vehicles,and other autonomous vehicles.Finally,the paper outlines several promising directions for future research.
文摘Construction project construction stage requires effective change visa management and dynamic cost control.This paper defines both,presents related theories,and details challenges in traditional methods.It then proposes an integrated model with system architecture,functional modules,and practical strategies like BIM integrated workflows.A case study validates the effectiveness,and future research on AI enhanced change prediction and blockchain based audit trails is suggested.
基金supported by the National Natural Science Foundation of China(U21A20477,61722302,61573069,61903290)the Fundamental Research Funds for the Central Universities(DUT19ZD218).
文摘This paper studies the problem of designing a modelbased decentralized dynamic periodic event-triggering mechanism(DDPETM)for networked control systems(NCSs)subject to packet losses and external disturbances.Firstly,the entire NCSs,comprising the triggering mechanism,packet losses and output-based controller,are unified into a hybrid dynamical framework.Secondly,by introducing dynamic triggering variables,the DDPETM is designed to conserve network resources while guaranteeing desired performance properties and tolerating the maximum allowable number of successive packet losses.Thirdly,some stability conditions are derived using the Lyapunov approach.Differing from the zero-order-hold(ZOH)case,the model-based control sufficiently exploits the model information at the controller side.Between two updates,the controller predicts the plant state based on the models and received feedback information.With the model-based control,less transmission may be expected than with ZOH.Finally,numerical examples and comparative experiments demonstrate the effectiveness of the proposed method.
文摘Three-dimensional(3D)nanoprinting via two-photon polymerization offers unparalleled design flexibility and precision,thereby enabling rapid prototyping of advanced micro-optical elements and systems that have found important applications in endomicroscopy and biomedical imaging.The potential of this versatile tool for monolithic manufacturing of dynamic micro-opto-electro-mechanical systems(MOEMSs),however,has not yet been sufficiently explored.This work introduces a 3D-nanoprinted lens actuator with a large optical aperture,optimized for remote focusing in miniaturized imaging systems.The device integrates orthoplanar linear motion springs,a self-aligned sintered micro-magnet,and a monolithic lens,actuated by dual microcoils for uniaxial motion.The use of 3D nanoprinting allows complete design freedom for the integrated optical lens,whereas the monolithic fabrication ensures inherent alignment of the lens with the mechanical elements.With a lens diameter of 1.4 mm and a compact footprint of 5.74 mm,it achieves high mechanical robustness at resonant frequencies exceeding 300 Hz while still providing a large displacement range of 200μm(±100μm).A comprehensive analysis of optical and mechanical performance,including the effects of coil temperature and polymer viscoelasticity,demonstrates its advantages over conventional micro-electro-mechanical system actuators,showcasing its potential for next-generation imaging applications.
基金supported by the National Natural Science Foundation of China (Grant No. 12074329)Nanhu Scholars Program for Young Scholars of Xinyang Normal University。
文摘With a three-dimensional semiclassical ensemble method, we theoretically investigated the nonsequential double ionization of Ar driven by the spatially inhomogeneous few-cycle negatively chirped laser pulses. Our results show that the recollision time window can be precisely controlled within an isolated time interval of several hundred attoseconds, which is useful for understanding the subcycle correlated electron dynamics. More interestingly, the correlated electron momentum distribution (CEMD) exhibits a strong dependence on laser intensity. That is, at lower laser intensity, CEMD is located in the first quadrant. As the laser intensity increases,CEMD shifts almost completely to the second and fourth quadrants, and then gradually to the third quadrant.The underlying physics governing the CEMD's dependence on laser intensity is explained.
基金supported by the National Natural Science Foundation of China(No.12332023)the Zhejiang Provincial Natural Science Foundation of China(No.LY23E050010).
文摘1Introduction To date,in model-based gait-planning methods,the dynamics of the center of mass(COM)of bipedal robots have been analyzed by establishing their linear inverted pendulum model(LIPM)or extended forms(Owaki et al.,2010;Englsberger et al.,2015;Xie et al.,2020).With regard to model-based gait-generation methods for uphill and downhill terrain,Kuo(2007)simulated human gait using an inverted pendulum,which provided a circular trajectory for the COM rather than a horizontal trajectory.He found that a horizontal COM trajectory consumed more muscle energy.Massah et al.(2012)utilized a 3D LIPM and the concept of zero moment point(ZMP).They developed a trajectory planner using the semi-elliptical motion equations of an NAO humanoid robot and simulated walking on various sloped terrains using the Webots platform.
文摘We propose a new method for robust adaptive backstepping control of nonlinear systems with parametric uncertainties and disturbances in the strict feedback form. The method is called dynamic surface control. Traditional backstepping algorithms require repeated differentiations of the modelled nonlinearities. The addition of n first order low pass filters allows the algorithm to be implemented without differentiating any model nonlinearities, thus ending the complexity arising due to the 'explosion of terms' that makes other methods difficult to implement in practice. The combined robust adaptive backstepping/first order filter system is proved to be semiglobally asymptotically stable for sufficiently fast filters by a singular perturbation approach. The simulation results demonstrate the feasibility and effectiveness of the controller designed by the method.
基金The National Natural Science Foundation of China(No.51508257,51668042,51578274)the Yangtze River Scholar and the Innovation Team of M inistry of Education(No.IRT13068)the Scientific Research Project of Gansu Higher Education(No.2015B-34)
文摘The human-induced vertical vibration serviceability of low-frequency and lightweight footbridges is studied based on the moving mass-spring-damper（MMSD） biodynamic model, and the mass damper（TMD） with different optimal model parameters being used to control the vertical vibration.First, the MMSD biodynamic model is employed to simulate the pedestrians, and the time-varying control equations of the vertical dynamic coupling system of the pedestrian-bridgeTMD are established with the consideration of pedestrianbridge dynamic interaction; and the equations are solved by using the Runge-Kutta-Felhberg integral method with variable step size. Secondly, the footbridge dynamic response is calculated under the model of pedestrian-structure dynamic interaction and the model of moving load when the pedestrian pace frequency is consistent with the natural frequency of footbridge. Finally, a comparative study and analysis are made on the control effects of the vertical dynamic coupling system in different optimal models of the TMD. The calculation results show that the pedestrian-bridge dynamic interaction cannot be ignored when the vertical human-induced vibration serviceability of low-frequency and light-weight footbridge is evaluated. The TMD can effectively reduce the vibration under the resonance of pedestrian-bridge, and TMD parameters are recommended for the determination by the Warburton optimization model.
基金Project(2009CB939705) supported by the National Basic Research Program of ChinaProject(200233) supported by the Foundation for the Author of National Excellent Doctoral Dissertation of China (FANEDD)
文摘A novel dynamically controlled plasma arc welding process was introduced,which is able tominimize heat input into the workpiece materials while maintaining desired full penetration,and it was used to weld Ti-6Al-4V alloy sheets.The microstructures,facture surfaces and microhardness of the welded joints were characterized by using optical microscope,scanning electron microscope （SEM） and Vickers microhardness tester.Comparing with welds such as gas tungsten arc and conventional plasma arc processes,the experimental results revealed the improvements when using the present process including：1） reducing prior-beta （β） grain size and prohibiting formation of hard martensite phases in the fusion zone due to the decreased heat input;and 2） better toughness and higher hardness.
文摘IGBT with high switching speed is described based on the dynamic controlled anode- short,which incorpo- rates a normally- on,p- MOSFET controlled by the anode voltage indirectly.This device works just as normal when it is in on- state since the channel of the p- MOSFET is pinched- off.During the course of turning off,the channel of the p- MOSFET will prevent the injection of m inorities and introduce an extra access for the carriers to flow to the anode directly,which m akes the IGBT reach its off- state in a shorter time.The simulation results prove that the new structure can reduce the turn- off time by m ore than75 % compared with the normal one under the same break- down voltage and on- state perform ance.Only two more resistors are needed when using this structure,and the re- quirement of the drive circuits is just the sam e as normal.
