Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This stu...Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.展开更多
Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombinati...Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombination during mode shift induces a significant torque shock.Therefore,a smooth transient process,among other concerns,typically associated with this category of vehicles,is of great importance.The present research aims to introduce a novel control strategy to manage the dynamic torque of multiple power sources and therefore im-prove ride comfort.To this end,a dynamic model of the objective power-split HEV is first built.To resolve the contention between vehicle jerk and clutch friction loss,a model predictive control(MPC)combined with control allocation(CA)is then designed for the clutch-engaged phase.To reduce the torque fluctuation caused by the inertia torques of multiple power sources,a dynamic compensation control strategy(DCcs)that coordinates motorgenerator torque to compensate for the transition torque is proposed for the brake-disengaged phase.Finally,the proposed control strategy is validated by simulation and bench test,and results show great potential in reducing shift duration,torque variation,vehicle jerk and friction loss(the simulation results show decreases of 22%,39%,83%and 53%,and the experimental results show decreases of 21%,74%,77%,and 59%,re-spectively),thereby improving shift quality.展开更多
To address the finite-time tracking control problem for fractional-order nonlinear systems(FONSs) with actuator faults and external disturbance,a novel strategy of the finite-time adaptive fuzzy fault-tolerant control...To address the finite-time tracking control problem for fractional-order nonlinear systems(FONSs) with actuator faults and external disturbance,a novel strategy of the finite-time adaptive fuzzy fault-tolerant controller is presented in this paper by utilizing the finite-time stability theory and fractional-order dynamic surface control scheme combined with backstepping method.A new lemma is developed for analyzing the finite-time stability of FONSs in terms of fractional differential inequality,which modifies some existing results.Fuzzy logic systems are adopted to identify unknown nonlinear characteristics in FONS.In order to compensate for the influence of unknown external disturbance and estimation error for fuzzy logic systems,an auxiliary function is employed to estimate the upper bound of parameters online.Furthermore,a global coordinate transformation is first introduced initially to decouple the fractional-order dynamic system of a specific class of underactuated single-link flexible manipulator systems,thereby transforming it into lower triangular systems.Simulation analyses and experimental results verify the feasibility and effectiveness of finite-time tracking control algorithm.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
By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering...By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering the fact that the increasing and decreasing slopes of the inductor current are assumed to be constant during each switching cycle, an especial sampleddata model of valley voltage-mode controlled buck-boost converter is established. Based on this model, the dynamical effect of an output-capacitor time-constant on the valley voltage-mode controlled buck-boost converter is revealed and analyzed via the bifurcation diagrams, the movements of eigenvalues, the Lyapunov exponent spectra, the boundary equations,and the operating-state regions. It is found that with gradual reduction of output-capacitor time-constant, the buck-boost converter in continuous conduction mode（CCM） shows the evolutive dynamic behavior from period-1 to period-2, period-4, period-8, chaos, and invalid state. The stability boundary and the invalidated boundary are derived theoretically by stability analysis, where the stable state of valley voltage-mode controlled buck-boost converter can enter into an unstable state, and the converter can shift from the operation region to a forbidden region. These results verified by time-domain waveforms and phase portraits of both simulation and experiment indicate that the sampled-data model is correct and the time constant of the output capacitor is a critical factor for valley voltage-mode controlled buck-boost converter, which has a significant effect on the dynamics as well as control stability.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
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
This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates senso...This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates sensor and actuator disturbances within the dynamics of follower robots.Each follower robot has unknown dynamics and control inputs,which expose it to the risks of both sensor and actuator attacks.The leader robot,described by a secondorder,time-varying nonlinear model,transmits its position,velocity,and acceleration information to follower robots through a wireless connection.To handle the complex setup and communication among robots in the network,we design a robust hybrid distributed adaptive control strategy combining the effect of sensor and actuator attack,which ensures asymptotic consensus,extending beyond conventional bounded consensus results.The proposed framework employs fuzzy logic systems(FLSs)as proactive controllers to estimate unknown nonlinear behaviors,while also effectively managing sensor and actuator attacks,ensuring stable consensus among all agents.To counter the impact of the combined signal attack on follower dynamics,a specialized robust control mechanism is designed,sustaining system stability and performance under adversarial conditions.The efficiency of this control strategy is demonstrated through simulations conducted across two different directed communication topologies,underscoring the protocol’s adaptability,resilience,and effectiveness in maintaining global consensus under complex attack scenarios.展开更多
Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation indu...Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation industry.In this paper,steady-state simulations are developed for the separated isopropanol and water systems,and the sensitive temperature stage locations are determined using sensitivity and singular value decomposition(SVD).An open-loop steady-state gain analysis of the isopropanol/water system was performed,and a series of dynamic control schemes were designed and optimized to resist±10% feed flow disturbances and ±5% feed composition disturbances,comparing the performance of the control schemes one by one through IAE error analysis.The results show that the side-stream extractive distillation separation of isopropanol and water system using a single temperature fixed reflux ratio control loop suffers from a large product shift problem.One of the key control loops is to control the isopropanol purity by controlling the bottom of the column flow rate,and the scheme performs well under both single-temperature control and dual-temperature control,effectively resisting ±10% feed flow disturbances and ±5% feed composition disturbances.The improvement of product purity can be seen from the compone nt controllers play an important role,while the feed-fo rward effect under certain conditions can also enable the system to quickly restore stability and improve the system response speed.展开更多
In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then...In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then the control input is divided into an expected input and an error compensator.Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis.Subsequently,by modifying the adaptive laws and local control laws,a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system.Through the direct Lyapunov theory,the proposed scheme allows the state errors to asymptotically converge to a specified interval.Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.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
Conventional droop control in multi-parallel grid-forming inverters exhibits poor reactive power sharing accuracy due to line impedance mismatches.In this study,we proposed a coordination control strategy integrating ...Conventional droop control in multi-parallel grid-forming inverters exhibits poor reactive power sharing accuracy due to line impedance mismatches.In this study,we proposed a coordination control strategy integrating adaptive virtual impedance with dynamic Q-V droop regulation to overcome this issue.We established a coupling model between the line impedance and power allocation to determine the quantitative relationship between reactive power deviation and impedance difference and to analyze the mechanism of reactive power deviation formation.Based on this,we proposed a transformer neural network-based online identification method for adaptive virtual impedance and dynamic droop coefficients.The self-attention mechanism dynamically characterizes the spatial distribution features of the impedance parameters considering the real-time voltage/reactive power time-series data as inputs to realize the dynamic impedance compensation without communication interaction.The contradiction constraint between the voltage drop and distribution accuracy caused by the introduction of conventional virtual impedance is improved by dynamic droop coefficient reconstruction.Lastly,we established a hardware-in-the-loop simulation platform to experimentally validate the operational efficacy and dynamic performance of the proposed control strategy under various grid scenarios.展开更多
Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncerta...Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.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
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
The globe faces an urgent need to close the energy demand-supply gap.Addressing this difficulty requires constructing a Hybrid Renewable Energy System(HRES),which has proven to be the most appropriate solution.HRES al...The globe faces an urgent need to close the energy demand-supply gap.Addressing this difficulty requires constructing a Hybrid Renewable Energy System(HRES),which has proven to be the most appropriate solution.HRES allows for integrating two or more renewable energy resources,successfully addressing the issue of intermittent availability of non-conventional energy resources.Optimization is critical for improving the HRES’s performance parameters during implementation.This study focuses on HRES using solar and biomass as renewable energy supplies and appropriate energy storage technologies.However,energy fluctuations present a problem with the power quality of HRES.To address this issue,the research paper introduces the Generalized Dynamic Progressive Neural Fuzzy Controller(GDPNFC),which regulates power flow within the proposed HRES.Furthermore,a unique approach called Enhanced Multi-Objective Monarch Butterfly Optimization(EMMBO)is used to optimize technical parameters.The simulation tool used in the research work is HOMER(Hybrid Optimization of Multiple Energy Resources)-PRO,and the system’s power quality is assessed using MATLAB 2016.The research paper concludes with comparing the performance of existing systems to the proposed system in terms of power loss and Total Harmonic Distortion(THD).It was established that the proposed technique involving EMMBO outperformed existing methods in technical optimization.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 performance of genetic algorithm(GA) is determined by the capability of search and optimization for satisfactory solutions. The new adaptive genetic algorithm(AGA) is built for inducing suitable search and optimiz...The performance of genetic algorithm(GA) is determined by the capability of search and optimization for satisfactory solutions. The new adaptive genetic algorithm(AGA) is built for inducing suitable search and optimization relationship. The use of six fuzzy logic controllers(6FLCs) is proposed for dynamic control genetic operating parameters of a symbolic-coded GA. This paper uses AGA based on 6FLCs to deal with the travelling salesman problem (TSP). Experimental results show that AGA based on 6FLCs is more efficient than a standard GA in solving combinatorial optimization problems similar to TSP.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
A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by...A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.展开更多
基金supported by the Malaysia Ministry of Higher Education under Fundamental Research Grant Scheme with Project Code:FRGS/1/2024/TK07/USM/02/3.
文摘Mobile service robots(MSRs)in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions,including model uncertainties and external disturbances.This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller(NFIDC)with a Feedback Radial Basis Function Neural Network(FRBFNN).The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1.The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.A two-stage simulation evaluation was conducted.In the first stage,the controller was tested in a simulated hospital environment under both ideal and non-ideal conditions.In the second,it was benchmarked against four established controllers-Neural Network Model Reference Adaptive(NNMRA),Z-number Fuzzy Logic(Z-FL),Adaptive Dynamic Controller(ADC),and Fuzzy Logic-PID(FL-PID)—using circular and lemniscate trajectories.Across ten runs,the proposed controller achieved the lowest tracking errors under all conditions.Under ideal conditions,it achieved average improvements of 55.24%,75.75%,and 55.20%in integral absolute error(IAE),integral squared error(ISE),and mean absolute error(MAE),respectively,with coefficient of variation(CV)reductions above 55%.Under non-ideal conditions,average improvements exceeded 64%in IAE,77%in ISE,and 66%in MAE,while maintaining CV reductions above 57%.These results confirm that the NFIDC-FRBFNN controller offers superior accuracy,robustness,and consistency for real-time path tracking in healthcare robotics.
基金Supported by National Natural Science Foundation of China(Grant Nos.52005039,51575043,51975048,U1764257).
文摘Mode shift is a special mechanism for a power-split hybrid electric vehicle(HEV)to realise electrically variable transmission,but the sudden change of equivalent inertia caused by topological configuration recombination during mode shift induces a significant torque shock.Therefore,a smooth transient process,among other concerns,typically associated with this category of vehicles,is of great importance.The present research aims to introduce a novel control strategy to manage the dynamic torque of multiple power sources and therefore im-prove ride comfort.To this end,a dynamic model of the objective power-split HEV is first built.To resolve the contention between vehicle jerk and clutch friction loss,a model predictive control(MPC)combined with control allocation(CA)is then designed for the clutch-engaged phase.To reduce the torque fluctuation caused by the inertia torques of multiple power sources,a dynamic compensation control strategy(DCcs)that coordinates motorgenerator torque to compensate for the transition torque is proposed for the brake-disengaged phase.Finally,the proposed control strategy is validated by simulation and bench test,and results show great potential in reducing shift duration,torque variation,vehicle jerk and friction loss(the simulation results show decreases of 22%,39%,83%and 53%,and the experimental results show decreases of 21%,74%,77%,and 59%,re-spectively),thereby improving shift quality.
基金supported by the National Natural Science Foundation of China(62403340,62303339)Sichuan Science and Technology Program(2026NSFSC1518)+2 种基金China Postdoctoral Science Foundation(CPSF)(2025T180940,2024M762208)Postdoctoral Fellowship Program of CPSF(GZC20231783)Guangxi Key Laboratory of Brain-Inspired Computing and Intelligent Chips(BCIC-24-K2)。
文摘To address the finite-time tracking control problem for fractional-order nonlinear systems(FONSs) with actuator faults and external disturbance,a novel strategy of the finite-time adaptive fuzzy fault-tolerant controller is presented in this paper by utilizing the finite-time stability theory and fractional-order dynamic surface control scheme combined with backstepping method.A new lemma is developed for analyzing the finite-time stability of FONSs in terms of fractional differential inequality,which modifies some existing results.Fuzzy logic systems are adopted to identify unknown nonlinear characteristics in FONS.In order to compensate for the influence of unknown external disturbance and estimation error for fuzzy logic systems,an auxiliary function is employed to estimate the upper bound of parameters online.Furthermore,a global coordinate transformation is first introduced initially to decouple the fractional-order dynamic system of a specific class of underactuated single-link flexible manipulator systems,thereby transforming it into lower triangular systems.Simulation analyses and experimental results verify the feasibility and effectiveness of finite-time tracking control algorithm.
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.
基金Project supported by the National Natural Science Foundation of China(Grant Nos.61371033 and 51407054)the Foundation for the Author of National Excellent Doctoral Dissertation of China(Grant No.201442)the Fundamental Research Funds for the Central Universities of China(Grant No.2682016CX035)
文摘By analyzing the output voltage ripple of a buck-boost converter with large equivalent series resistance（ESR） of output capacitor, one valley voltage-mode controller for buck-boost converter is proposed. Considering the fact that the increasing and decreasing slopes of the inductor current are assumed to be constant during each switching cycle, an especial sampleddata model of valley voltage-mode controlled buck-boost converter is established. Based on this model, the dynamical effect of an output-capacitor time-constant on the valley voltage-mode controlled buck-boost converter is revealed and analyzed via the bifurcation diagrams, the movements of eigenvalues, the Lyapunov exponent spectra, the boundary equations,and the operating-state regions. It is found that with gradual reduction of output-capacitor time-constant, the buck-boost converter in continuous conduction mode（CCM） shows the evolutive dynamic behavior from period-1 to period-2, period-4, period-8, chaos, and invalid state. The stability boundary and the invalidated boundary are derived theoretically by stability analysis, where the stable state of valley voltage-mode controlled buck-boost converter can enter into an unstable state, and the converter can shift from the operation region to a forbidden region. These results verified by time-domain waveforms and phase portraits of both simulation and experiment indicate that the sampled-data model is correct and the time constant of the output capacitor is a critical factor for valley voltage-mode controlled buck-boost converter, which has a significant effect on the dynamics as well as control stability.
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This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates sensor and actuator disturbances within the dynamics of follower robots.Each follower robot has unknown dynamics and control inputs,which expose it to the risks of both sensor and actuator attacks.The leader robot,described by a secondorder,time-varying nonlinear model,transmits its position,velocity,and acceleration information to follower robots through a wireless connection.To handle the complex setup and communication among robots in the network,we design a robust hybrid distributed adaptive control strategy combining the effect of sensor and actuator attack,which ensures asymptotic consensus,extending beyond conventional bounded consensus results.The proposed framework employs fuzzy logic systems(FLSs)as proactive controllers to estimate unknown nonlinear behaviors,while also effectively managing sensor and actuator attacks,ensuring stable consensus among all agents.To counter the impact of the combined signal attack on follower dynamics,a specialized robust control mechanism is designed,sustaining system stability and performance under adversarial conditions.The efficiency of this control strategy is demonstrated through simulations conducted across two different directed communication topologies,underscoring the protocol’s adaptability,resilience,and effectiveness in maintaining global consensus under complex attack scenarios.
基金the Key Research and Development Plan of Shandong Province (Major Scientific and Technological Innovation Project) (2021ZDSYS24)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing (Yantai) (AMGM2023A09)the Open Project Program of Fujian Universities Engineering Research Center of Reactive Distillation Technology (RDRC202204), Fuzhou University。
文摘Innovating distillation technology to improve the efficiency of distillation equipment,reduce energy consumption,and increase product purity is an important challenge for the rapid development of the distillation industry.In this paper,steady-state simulations are developed for the separated isopropanol and water systems,and the sensitive temperature stage locations are determined using sensitivity and singular value decomposition(SVD).An open-loop steady-state gain analysis of the isopropanol/water system was performed,and a series of dynamic control schemes were designed and optimized to resist±10% feed flow disturbances and ±5% feed composition disturbances,comparing the performance of the control schemes one by one through IAE error analysis.The results show that the side-stream extractive distillation separation of isopropanol and water system using a single temperature fixed reflux ratio control loop suffers from a large product shift problem.One of the key control loops is to control the isopropanol purity by controlling the bottom of the column flow rate,and the scheme performs well under both single-temperature control and dual-temperature control,effectively resisting ±10% feed flow disturbances and ±5% feed composition disturbances.The improvement of product purity can be seen from the compone nt controllers play an important role,while the feed-fo rward effect under certain conditions can also enable the system to quickly restore stability and improve the system response speed.
基金supported in part by the National Key Research and Development Program of China(2023YFB4706400)the National Natural Science Foundation of China(62273112,62073030,62203161)+6 种基金the Guangdong Basic and Applied Basic Research Foundation(2023B1515120018,2023B1515120019)the Open Project of Xiangjiang Laboratory(23XJ03012)the Natural Science Foundation of Hunan Province(2024JJ5087)the Natural Science Foundation of Jiangxi Province(20232BAB212024)the National Research Foundation of Korea funded by the Ministry of Science and ICT,South Korea(IRIS-2023-00207954)the Science and Technology Planning Project of Guangzhou,China(2023A03J0120)the Guangzhou University Research Project(RC2023037)
文摘In this study,we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults.First,an inverse hysteresis dynamics model is introduced,and then the control input is divided into an expected input and an error compensator.Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis.Subsequently,by modifying the adaptive laws and local control laws,a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system.Through the direct Lyapunov theory,the proposed scheme allows the state errors to asymptotically converge to a specified interval.Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.
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(No.62063016)the Science and Technology Plan of Gansu Province(No.25JRRA088).
文摘Conventional droop control in multi-parallel grid-forming inverters exhibits poor reactive power sharing accuracy due to line impedance mismatches.In this study,we proposed a coordination control strategy integrating adaptive virtual impedance with dynamic Q-V droop regulation to overcome this issue.We established a coupling model between the line impedance and power allocation to determine the quantitative relationship between reactive power deviation and impedance difference and to analyze the mechanism of reactive power deviation formation.Based on this,we proposed a transformer neural network-based online identification method for adaptive virtual impedance and dynamic droop coefficients.The self-attention mechanism dynamically characterizes the spatial distribution features of the impedance parameters considering the real-time voltage/reactive power time-series data as inputs to realize the dynamic impedance compensation without communication interaction.The contradiction constraint between the voltage drop and distribution accuracy caused by the introduction of conventional virtual impedance is improved by dynamic droop coefficient reconstruction.Lastly,we established a hardware-in-the-loop simulation platform to experimentally validate the operational efficacy and dynamic performance of the proposed control strategy under various grid scenarios.
基金National Natural Science Foundation of China(62373102)Jiangsu Natural Science Foundation(BK20221455)Anhui Provincial Key Research and Development Project(2022i01020013)。
文摘Enhancing the stability and performance of practical control systems in the presence of nonlinearity,time delay,and uncertainty remains a significant challenge.Particularly,a class of strict-feedback nonlinear uncertain systems characterized by unknown control directions and time-varying input delay lacks comprehensive solutions.In this paper,we propose an observerbased adaptive tracking controller to address this gap.Neural networks are utilized to handle uncertainty,and a unique coordinate transformation is employed to untangle the coupling between input delay and unknown control directions.Subsequently,a new auxiliary signal counters the impact of time-varying input delay,while a Nussbaum function is introduced to solve the problem of unknown control directions.The leverage of an advanced dynamic surface control technique avoids the“complexity explosion”and reduces boundary layer errors.Synthesizing these techniques ensures that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB),and the tracking error converges to a small region around the origin by selecting suitable parameters.Simulation examples are provided to demonstrate the feasibility of the proposed approach.
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.
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.
文摘The globe faces an urgent need to close the energy demand-supply gap.Addressing this difficulty requires constructing a Hybrid Renewable Energy System(HRES),which has proven to be the most appropriate solution.HRES allows for integrating two or more renewable energy resources,successfully addressing the issue of intermittent availability of non-conventional energy resources.Optimization is critical for improving the HRES’s performance parameters during implementation.This study focuses on HRES using solar and biomass as renewable energy supplies and appropriate energy storage technologies.However,energy fluctuations present a problem with the power quality of HRES.To address this issue,the research paper introduces the Generalized Dynamic Progressive Neural Fuzzy Controller(GDPNFC),which regulates power flow within the proposed HRES.Furthermore,a unique approach called Enhanced Multi-Objective Monarch Butterfly Optimization(EMMBO)is used to optimize technical parameters.The simulation tool used in the research work is HOMER(Hybrid Optimization of Multiple Energy Resources)-PRO,and the system’s power quality is assessed using MATLAB 2016.The research paper concludes with comparing the performance of existing systems to the proposed system in terms of power loss and Total Harmonic Distortion(THD).It was established that the proposed technique involving EMMBO outperformed existing methods in technical optimization.
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.
文摘The performance of genetic algorithm(GA) is determined by the capability of search and optimization for satisfactory solutions. The new adaptive genetic algorithm(AGA) is built for inducing suitable search and optimization relationship. The use of six fuzzy logic controllers(6FLCs) is proposed for dynamic control genetic operating parameters of a symbolic-coded GA. This paper uses AGA based on 6FLCs to deal with the travelling salesman problem (TSP). Experimental results show that AGA based on 6FLCs is more efficient than a standard GA in solving combinatorial optimization problems similar to TSP.
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.
基金the Fundamental Research Funds for the Central Universities(No.HIT.NSRIF.2013039)the National Natural Science Foundation of China(Nos.61203125 and 61021002)
文摘A novel integrated guidance and autopilot design method is proposed for homing missiles based on the adaptive block dynamic surface control approach. The fully integrated guidance and autopilot model is established by combining the nonlinear missile dynamics with the nonlinear dynamics describing the pursuit situation of a missile and a target in the three-dimensional space. The integrated guidance and autopilot design problem is further converted to a state regulation problem of a time-varying nonlinear system with matched and unmatched uncertainties. A new and simple adaptive block dynamic surface control algorithm is proposed to address such a state regulation problem. The stability of the closed-loop system is proven based on the Lyapunov theory. The six degrees of freedom （6DOF） nonlinear numerical simulation results show that the proposed integrated guidance and autopilot algorithm can ensure the accuracy of target interception and the robust stability of the closed-loop system with respect to the uncertainties in the missile dynamics.
