When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To o...When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.展开更多
To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design...To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.展开更多
Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase erro...Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.展开更多
Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller ...Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the system-s ＂zeros＂, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.展开更多
In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let ...In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.展开更多
In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on t...In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.展开更多
This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-mini...This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.展开更多
Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this ...Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.展开更多
This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of un...This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.展开更多
Zero Crossing Digital Phase Locked Loop with Arc Sine block (AS-ZCDPLL) is used to linearize the phase difference detection, and enhance the loop performance. The loop has faster acquisition, less steady state phase e...Zero Crossing Digital Phase Locked Loop with Arc Sine block (AS-ZCDPLL) is used to linearize the phase difference detection, and enhance the loop performance. The loop has faster acquisition, less steady state phase error, and wider locking range compared to the conventional ZCDPLL. This work presents a Zero Crossing Digital Phase Locked Loop with Arc Sine block (ZCDPLL-AS). The performance of the loop is analyzed under mobile faded channel conditions. The mobile channel is assumed to be two path fading channel corrupted by additive white Gaussian noise (AWGM). It is shown that for a constant filter gain, the frequency spread has no effect on the steady state phase error variance when the loop is subjected to a phase step. For a frequency step and under the same conditions, the effect on phase error is minimal.展开更多
Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based ...Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.展开更多
In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial rob...In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.展开更多
In this paper,we study two quasi-one-dimensional（1 D） Kitaev models with ladder-like and tube-like spatial structures,respectively.Our results provide the phase diagrams and explicit expressions of the Majorana zero...In this paper,we study two quasi-one-dimensional（1 D） Kitaev models with ladder-like and tube-like spatial structures,respectively.Our results provide the phase diagrams and explicit expressions of the Majorana zero modes.The topological phase diagrams are obtained by decomposing the topological invariants and the topological conditions for topologically nontrivial phases are given precisely.For systems which belongs to topological class BDI,we obtain the regions in the phase diagrams where the topological numbers show even-odd effect.For the Kitaev tube model a phase factor induced by the magnetic flux in the axial direction of the tube is introduced to alter the classification of the tube Hamiltonian from class BDI to D.The Kitaev tube of class D is characterized by the Z2 index when the number of chains is odd while 0,1,2 when the number of chains is even.The phase diagrams show periodic behaviors with respect to the magnetic flux.The bulk-boundary correspondence is demonstrated by the observations that the topological conditions for the bulk topological invariant to take nontrivial values are precisely those for the existence of the Majorana zero modes.展开更多
For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the...For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the region where the system parameters jump and improve the transient response,while another two adaptive models are used to guarantee the stability.Utilizing generalized minimum variance design method,it adopts the stochastic system estimation algorithm with optimal controller design method to identify the controller parameter directly.Finally,the global convergence is given.The simulation proves the effectives of the controller proposed.展开更多
An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accurac...An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accuracy,the improved algorithm uses the optimal iterativemethod to seek the nonlinear least-square solution.Finally,the simulation examples are alsogiven.展开更多
We investigate the topological properties of an antiferromagnetic(AFM)chain with an on-site periodic potential,considering the intrinsic spin–orbit coupling and an external Zeeman field along with the nanowire.Our re...We investigate the topological properties of an antiferromagnetic(AFM)chain with an on-site periodic potential,considering the intrinsic spin–orbit coupling and an external Zeeman field along with the nanowire.Our results indicate that Majorana zero modes(MZMs)can be observed by adjusting the strength of the periodic potential.We have calculated the energy spectrum,the wave-function and transport properties,and all these results support the existence of MZMs in the AFM chain.Additionally,multiple topological phase transitions occur as the strength of the periodic potential changes,and several regions support MZMs.展开更多
By means of critical behaviors of the dynamical fermion mass in four-fermion interaction models, we show by explicit calculations that when T = 0 the particle density will have a discontinuous jumping across the criti...By means of critical behaviors of the dynamical fermion mass in four-fermion interaction models, we show by explicit calculations that when T = 0 the particle density will have a discontinuous jumping across the critical chemical potential μ<SUB>c</SUB> in 2D and 3D Gross-Neveu (GN) model and these physically explain the first-order feature of the corresponding symmetry restoring phase transitions. For the second-order phase transitions in the 3D GN model when T → 0 and in 4D Nambu–Jona–Lasinio (NJL) model when T = 0, it is proven that the particle density itself will be continuous across μ<SUB>c</SUB> but its derivative over the chemical potential μ will have a discontinuous jumping. The results give a physical explanation of implications of the tricritical point in the 3D GN model. The discussions also show effectiveness of the critical analysis approach of phase transitions.展开更多
MgZn_(2)-type(Hf,Ta)Fe_(2),known for its negative thermal expansion during magnetic transition,is a key component in the production of zero thermal expansion composites.This paper presents a basic approach for designi...MgZn_(2)-type(Hf,Ta)Fe_(2),known for its negative thermal expansion during magnetic transition,is a key component in the production of zero thermal expansion composites.This paper presents a basic approach for designing such composites by introducing an additional Laves phase through atomic substitution.Specifically,Co,Ni,A1 and V were chosen to substitute Fe in(Hf,Ta)Fe_(2).The addition of Co or Ni results in the creation of an extra MgCu_(2)(C15)phase in the MgZn_(2)(C14)matrix.The C15phase exhibits positive thermal expansion,which effectively compensates for the negative thermal expansion of the C14 matrix.By adjusting the amount of Co or Ni,zero thermal expansion can be achieved in a given temperature range.Meanwhile,the replacement of Fe by Al or V yields another C14 phase with a higher doping element content relative to the C14 matrix.These two C14 phases possess different magnetic transition temperatures and negative thermal expansion temperature regions.The combination of the two C14 phases results in zero thermal expansion due to the effective thermal expansion compensation between them.Our results serve to identify potential approaches for designing(Hf,Ta)Fe_(2)-based zero thermal expansion composites.展开更多
The Zr（0.5）Hf（0.5）VPO7 is successfully synthesized by the solid-state method with near-zero thermal expansion. Powder x-ray diffraction（XRD）, Raman spectroscopy, thermal dilatometry, and scanning electron micros...The Zr（0.5）Hf（0.5）VPO7 is successfully synthesized by the solid-state method with near-zero thermal expansion. Powder x-ray diffraction（XRD）, Raman spectroscopy, thermal dilatometry, and scanning electron microscopy（SEM） are used to investigate the structure, the phase transition, and the coefficient of thermal expansion（CTE） of Zr（0.5）Hf（0.5）VPO7. The investigation results show that the samples are of the single cubic type with a space group of Pa3ˉ at room temperature（RT）.It can be inferred that the superstructure is transformed from the 3 × 3 × 3 superstructure to the 1 × 1 × 1 ideal crystal in a temperature range between 310 K and 323 K. The CTE is measured by a dilatometer to be 0.59 × 10^（-6） K^（-1）（310 K–673 K）. The values of intrinsic（XRD） and extrinsic（dilatometric） thermal expansion are both near zero. The results show that Zr（0.5）Hf（0.5）VPO7 has near-zero thermal expansion behavior over a wide temperature range.展开更多
At zero temperature, based on the Ising model, the phase transition in a two-dimensional square lattice is studied using the generalized zero-temperature Glauber dynamics. Using Monte Carlo （MC） renormalization grou...At zero temperature, based on the Ising model, the phase transition in a two-dimensional square lattice is studied using the generalized zero-temperature Glauber dynamics. Using Monte Carlo （MC） renormalization group methods, the static critical exponents and the dynamic exponent are studied; the type of phase transition is found to be of the first order.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 71271078)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA04Z414)Integration of Industry, Education and Research of Guangdong Province, and Ministry of Education of China (Grant No. 2009B090300312)
文摘When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.
基金This project was supported by the Aeronautics Foundation of China (00E51022).
文摘To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.
基金This project is supported by Aeronautics Foundation of China (No.00- E51022).
文摘Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.
文摘Active disturbance rejection control （ADRC）, as proposed by Prof. Jingqing Han, reduces first the plant dynamics to its canonical form, normally in the form of cascade integrators, for which the standard controller can be employed to meet the design specifications. This paper concerns with the selection of the canonical form for non-minimum phase systems. In particular, it is shown that, by employing the well known controllable canonical form, the uncertainties of such systems can be divided into two terms in the state space model, one in the control channel and the other in the output channel. The necessary and sufficient condition is obtained for the stability of the closed-loop system with the proposed canonical form and ADRC. Also, by showing the necessity of the detectability of the extended system as well as certain information of the system-s ＂zeros＂, we present the fundamental guidelines of design ADRC for non-minimum phase uncertain systems.
基金supported by National Natural Science Foundation of China(61403013)the Aero-Science Foundation of China(2015ZA51009)
文摘In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.
基金supported in part by the Science Center Program of National Natural Science Foundation of China(62373189,62188101,62020106003)the Research Fund of State Key Laboratory of Mechanics and Control for Aerospace Structures,China。
文摘In this paper,a novel adaptive Fault-Tolerant Control(FTC)strategy is proposed for non-minimum phase Hypersonic Vehicles(HSVs)that are affected by actuator faults and parameter uncertainties.The strategy is based on the output redefinition method and Adaptive Dynamic Programming(ADP).The intelligent FTC scheme consists of two main parts:a basic fault-tolerant and stable controller and an ADP-based supplementary controller.In the basic FTC part,an output redefinition approach is designed to make zero-dynamics stable with respect to the new output.Then,Ideal Internal Dynamic(IID)is obtained using an optimal bounded inversion approach,and a tracking controller is designed for the new output to realize output tracking of the nonminimum phase HSV system.For the ADP-based compensation control part,an ActionDependent Heuristic Dynamic Programming(ADHDP)adopting an actor-critic learning structure is utilized to further optimize the tracking performance of the HSV control system.Finally,simulation results are provided to verify the effectiveness and efficiency of the proposed FTC algorithm.
基金This work was supported by Research Grants Council of Hong Kong(CityU-11205221).
文摘This article addresses the leader-following output consensus problem of heterogeneous linear multi-agent systems with unknown agent parameters under directed graphs.The dynamics of followers are allowed to be non-minimum phase with unknown arbitrary individual relative degrees.This is contrary to many existing works on distributed adaptive control schemes where agent dynamics are required to be minimum phase and often of the same relative degree.A distributed adaptive pole placement control scheme is developed,which consists of a distributed observer and an adaptive pole placement control law.It is shown that under the proposed distributed adaptive control scheme,all signals in the closed-loop system are bounded and the outputs of all the followers track the output of the leader asymptotically.The effectiveness of the proposed scheme is demonstrated by one practical example and one numerical example.
文摘Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.
基金Research Grants Council of Hong Kong under Grant CityU-11205221.
文摘This article investigates the problem of robust adaptive leaderless consensus for heterogeneous uncertain nonminimumphase linear multi-agent systems over directed communication graphs. Each agent is assumed tobe of unknown nominal dynamics and also subject to external disturbances and/or unmodeled dynamics. Anovel distributed robust adaptive control strategy is proposed. It is shown that the robust adaptive leaderlessconsensus problem is solved with the proposed control strategy under some sufficient conditions. Two examplesare provided to demonstrate the efficacy of the proposed control strategy.
文摘Zero Crossing Digital Phase Locked Loop with Arc Sine block (AS-ZCDPLL) is used to linearize the phase difference detection, and enhance the loop performance. The loop has faster acquisition, less steady state phase error, and wider locking range compared to the conventional ZCDPLL. This work presents a Zero Crossing Digital Phase Locked Loop with Arc Sine block (ZCDPLL-AS). The performance of the loop is analyzed under mobile faded channel conditions. The mobile channel is assumed to be two path fading channel corrupted by additive white Gaussian noise (AWGM). It is shown that for a constant filter gain, the frequency spread has no effect on the steady state phase error variance when the loop is subjected to a phase step. For a frequency step and under the same conditions, the effect on phase error is minimal.
基金The project was supported by Aeronautics Foundation of China (00E51022).
文摘Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.
文摘In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.
基金Project supported by the National Natural Science Foundation of China(Grant No.11274379)the Fundamental Research Funds for the Central Universitiesthe Research Funds of Renmin University of China(Grant No.14XNLQ07)
文摘In this paper,we study two quasi-one-dimensional（1 D） Kitaev models with ladder-like and tube-like spatial structures,respectively.Our results provide the phase diagrams and explicit expressions of the Majorana zero modes.The topological phase diagrams are obtained by decomposing the topological invariants and the topological conditions for topologically nontrivial phases are given precisely.For systems which belongs to topological class BDI,we obtain the regions in the phase diagrams where the topological numbers show even-odd effect.For the Kitaev tube model a phase factor induced by the magnetic flux in the axial direction of the tube is introduced to alter the classification of the tube Hamiltonian from class BDI to D.The Kitaev tube of class D is characterized by the Z2 index when the number of chains is odd while 0,1,2 when the number of chains is even.The phase diagrams show periodic behaviors with respect to the magnetic flux.The bulk-boundary correspondence is demonstrated by the observations that the topological conditions for the bulk topological invariant to take nontrivial values are precisely those for the existence of the Majorana zero modes.
基金the National Natural Science Foundation of China (Nos.60504010 and 60774015)the National High Technology Research and Development Program (863) of China (No.2008AA04Z129)+1 种基金the Disbursal Budget Program of Shanghai Municipal Education Commission of China (No.2008093) the Innovation Program of Shanghai Municipal Education Commission of China (No.09YZ241)
文摘For a stochastic non-minimum phase multivariable system,a multiple models direct adaptive controller is presented.It is composed of multiple fixed models with two adaptive models.The fixed models are used to cover the region where the system parameters jump and improve the transient response,while another two adaptive models are used to guarantee the stability.Utilizing generalized minimum variance design method,it adopts the stochastic system estimation algorithm with optimal controller design method to identify the controller parameter directly.Finally,the global convergence is given.The simulation proves the effectives of the controller proposed.
文摘An improved algorithm which is based on the recursive closed-form algorithm fornon-minimum phase FIR system identification via higher order statistics is presented.In order toincrease the parametric estimation accuracy,the improved algorithm uses the optimal iterativemethod to seek the nonlinear least-square solution.Finally,the simulation examples are alsogiven.
基金supported by the Hunan Provincial Natural Science Foundation of China(Nos.2020JJ4240,2018JJ2078)the Scientific Research Fund of Hunan Provincial Education Department(No.19A106,18C0699)the Postgraduate University-Level Research Programme of Jishou University(No.Jdy22043)。
文摘We investigate the topological properties of an antiferromagnetic(AFM)chain with an on-site periodic potential,considering the intrinsic spin–orbit coupling and an external Zeeman field along with the nanowire.Our results indicate that Majorana zero modes(MZMs)can be observed by adjusting the strength of the periodic potential.We have calculated the energy spectrum,the wave-function and transport properties,and all these results support the existence of MZMs in the AFM chain.Additionally,multiple topological phase transitions occur as the strength of the periodic potential changes,and several regions support MZMs.
基金The project supported by National Natural Science Foundation ot China
文摘By means of critical behaviors of the dynamical fermion mass in four-fermion interaction models, we show by explicit calculations that when T = 0 the particle density will have a discontinuous jumping across the critical chemical potential μ<SUB>c</SUB> in 2D and 3D Gross-Neveu (GN) model and these physically explain the first-order feature of the corresponding symmetry restoring phase transitions. For the second-order phase transitions in the 3D GN model when T → 0 and in 4D Nambu–Jona–Lasinio (NJL) model when T = 0, it is proven that the particle density itself will be continuous across μ<SUB>c</SUB> but its derivative over the chemical potential μ will have a discontinuous jumping. The results give a physical explanation of implications of the tricritical point in the 3D GN model. The discussions also show effectiveness of the critical analysis approach of phase transitions.
基金financially supported by the National Natural Science Foundation of China(No.11974184)JiangSu Undergraduate Training Program for Innovation and Entrepreneurship(No.202310288172Y)。
文摘MgZn_(2)-type(Hf,Ta)Fe_(2),known for its negative thermal expansion during magnetic transition,is a key component in the production of zero thermal expansion composites.This paper presents a basic approach for designing such composites by introducing an additional Laves phase through atomic substitution.Specifically,Co,Ni,A1 and V were chosen to substitute Fe in(Hf,Ta)Fe_(2).The addition of Co or Ni results in the creation of an extra MgCu_(2)(C15)phase in the MgZn_(2)(C14)matrix.The C15phase exhibits positive thermal expansion,which effectively compensates for the negative thermal expansion of the C14 matrix.By adjusting the amount of Co or Ni,zero thermal expansion can be achieved in a given temperature range.Meanwhile,the replacement of Fe by Al or V yields another C14 phase with a higher doping element content relative to the C14 matrix.These two C14 phases possess different magnetic transition temperatures and negative thermal expansion temperature regions.The combination of the two C14 phases results in zero thermal expansion due to the effective thermal expansion compensation between them.Our results serve to identify potential approaches for designing(Hf,Ta)Fe_(2)-based zero thermal expansion composites.
基金supported by the National Natural Science Foundation of China(Grant Nos.11574276,U173112,and 41401384)the Project of Shandong Provincial Higher Educational Science and Technology Program,China(Grant No.J17KB127)+1 种基金the Science and Technology Development Plans of Binzhou City,China(Grant Nos.2014ZC0307 and 2015ZC0210)Binzhou University Research Fund Project,China(Grant Nos.BZXYG1513 and BZXYG1706)
文摘The Zr（0.5）Hf（0.5）VPO7 is successfully synthesized by the solid-state method with near-zero thermal expansion. Powder x-ray diffraction（XRD）, Raman spectroscopy, thermal dilatometry, and scanning electron microscopy（SEM） are used to investigate the structure, the phase transition, and the coefficient of thermal expansion（CTE） of Zr（0.5）Hf（0.5）VPO7. The investigation results show that the samples are of the single cubic type with a space group of Pa3ˉ at room temperature（RT）.It can be inferred that the superstructure is transformed from the 3 × 3 × 3 superstructure to the 1 × 1 × 1 ideal crystal in a temperature range between 310 K and 323 K. The CTE is measured by a dilatometer to be 0.59 × 10^（-6） K^（-1）（310 K–673 K）. The values of intrinsic（XRD） and extrinsic（dilatometric） thermal expansion are both near zero. The results show that Zr（0.5）Hf（0.5）VPO7 has near-zero thermal expansion behavior over a wide temperature range.
文摘At zero temperature, based on the Ising model, the phase transition in a two-dimensional square lattice is studied using the generalized zero-temperature Glauber dynamics. Using Monte Carlo （MC） renormalization group methods, the static critical exponents and the dynamic exponent are studied; the type of phase transition is found to be of the first order.
