The importance of developing high-resolution seismic models to improve understanding of tectonic processes and enhance seismic hazard mitigation programs,along with the rapid expansion of seismic coverage in China,cal...The importance of developing high-resolution seismic models to improve understanding of tectonic processes and enhance seismic hazard mitigation programs,along with the rapid expansion of seismic coverage in China,called for a seismological reference model to be established in China.The China Seismological Reference Model(CSRM)project was initiated by the National Natural Science Foundation of China with two primary goals:(1)the CSRM would serve as a primary source for the current state of seismological research in China,and(2)the seismic data and constraints used to construct the CSRM would be used as a backbone open-access cyberinfrastructure for future research in seismology.The CSRM project was also intended to promote data exchange and scientific collaboration in seismology in China.Accordingly,two parallel efforts of the project are being pursued:(1)construction of the CSRM,and(2)development of a CSRM product center.The CSRM is jointly constrained by various types of seismic constraints extracted from the seismic data recorded at 4511 seismic stations in continental China following a top-down approach,with the seismic structures in the shallower part of the Earth constrained first.Construction of the CSRM involves three preparation steps:(1)building datasets of various seismic constraints from the seismic data,(2)developing a method to incorporate the constraints of surface wave observations from regional earthquakes into the inversion of the seismic structure,and(3)constructing high-resolution pre-CSRM seismic models of the velocity structure in the shallow crust and the Pn-velocity structure in the uppermost mantle.In the final process,the CSRM will be constructed by jointly inverting all the seismic constraints using the pre-CSRM models as starting models or a priori structures.The CSRM product center(http://chinageorefmodel.org)archives and distributes three types of products:CSRM models,the Level 1 original seismic data used to extract seismic constraints in the construction of the CSRM,and Level 2 data on the seismic constraints derived from the Level 1 data and the inferred earthquake parameters in the construction of the CSRM.The CSRM product center has archived 141 TB of Level 1 data from 1120 permanent broadband stations in the China Seismic Network Center and 3391 temporary stations from various institutions and data centers around the world,as well as 140 GB of Level 2 data on various seismic constraints and inferred event parameters from the construction of the CSRM.The CSRM is expected to provide significant insights into the composition and tectonic dynamics in continental China and to enhance the capability of various seismic hazard mitigation programs in China from near real-time rapid determination of earthquake parameters to an earthquake early warning system.The CSRM could also provide guidance for focuses in future seismological research and the design of future active and passive seismic experiments in China.Several focuses are suggested for future seismological research in China,along with the building of a national cyberinfrastructure to sustain and expand the operations of the CSRM project.展开更多
P2P is a complex system.Many researches on P2P architecture have been done.These researches have provided valuable references for the standardization of P2P technology.However,the standardization can not be achieved b...P2P is a complex system.Many researches on P2P architecture have been done.These researches have provided valuable references for the standardization of P2P technology.However,the standardization can not be achieved because there are still some problems in existing studies.This paper proposes a 5-layer reference model which clearly defines the functionalities of each layer,and distinctly describes the interface and the relationship between layers.This model is able to clearly show the internal structure of P2P system and the working process of data flow in P2P system.Validation shows that this model is general and rational.展开更多
How to protect the database, the kernel resources of information warfare, is becoming more and more important since the rapid development of computer and communication technology. As an application-level firewall, dat...How to protect the database, the kernel resources of information warfare, is becoming more and more important since the rapid development of computer and communication technology. As an application-level firewall, database security proxy can successfully repulse attacks originated from outside the network, reduce to zerolevel damage from foreign DBMS products. We enhanced the capability of the COAST' s firewall reference model by adding a transmission unit modification function and an attribute value mapping function,describes the schematic and semantic layer reference model, and finally forms a reference model for DBMS security proxy which greatly helps in the design and implementation of database security proxies. This modeling process can clearly separate the system functionality into three layers, define the possible security functions for each layer, and estimate the computational cost for each layer.展开更多
The design of the control system for radial plasma position on HL-2A based on model reference adaptive control (MRAC) principle is presented in this paper. The simulated results show that it can be used to improve the...The design of the control system for radial plasma position on HL-2A based on model reference adaptive control (MRAC) principle is presented in this paper. The simulated results show that it can be used to improve the performance of the system greatly. Compared with the classical PID control system, it has obvious advantages in the better dynamic response, the smaller quantity of calculation and the better robustness.展开更多
To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)...To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.展开更多
The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compe...The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compensator based on functional link neural network is used to deal with the engine nonlinearity and the hardware-in-loop simulation is also developed. The results show that the nonlinear MRAC controller has the adequate performance of compensating and adapting nonlinearity arising from the change of engine state or working environment. Such feature demonstrates potential practical applications of MRAC for aeroengine control system.展开更多
The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector...The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.展开更多
To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areody...To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areodynamic floating. The model reference adaptive control was combined with the variable structure control to design a model reference variable structure (MRVS) control system whose control structure is simple and can be realized easily. The simulation results indicate that MRVS can complete the task of transferring guidance command and suppress the distrubances effectively.展开更多
Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the ...Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the traits of the anti tank missile. Results Simulation results demonstrated this control system satisfied the requirement of anti tank missile of dive overhead attack. Conclusion It is successful to use MRAC in missile control system design, the quality is better than that designed by classical control theory.展开更多
This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front a...This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.展开更多
A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performan...A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performance of the system over the fullflight envelope. Simulation results also show the good effectiveness of reducing interactionin the multivariable system with significant coupling. The control system developed has awide frequency band to satisfy the strict engineering requirement and is practical for engineering applications.展开更多
Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adap...Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adaptive methods can effectively face nonlinearities that are common to many automotive electromechanical devices. We consider here, as a representative case study, the control of a strongly nonlinear automotive actuator. The experimental results confirm the effectiveness of the method to cope with unmodeled nonlinear terms and unknown parameters. In addition, the engineering performance indexes computed on experimental data clearly show that the robust adaptive strategy provides better performance compared with those given by a classical model-based control solution with fixed gains.展开更多
This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot...This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.展开更多
A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approx...A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.展开更多
For a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the design and analysis of robust indirect model reference adaptive control （MRAC） with normalized adaptive law are investigated....For a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the design and analysis of robust indirect model reference adaptive control （MRAC） with normalized adaptive law are investigated. The main work includes three parts. Firstly, it is shown that the constructed parameter estimation algorithm not only possesses the same properties as those of traditional estimation algorithms, but also avoids the possibility of division by zero. Secondly, by establishing a relationship between the plant parameter estimate and the controller parameter estimate, some similar properties of the latter are also established. Thirdly, by using the relationship between the normalizing signal and all the signals of the closed-loop system, and some important mathematical tools on discrete-time systems, as in the continuous-time case, a systematic stability and robustness analysis approach to the discrete indirect robust MRAC scheme is developed rigorously.展开更多
For a large class of discrete-time multivariable plants with arbitrary relative degrees, the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumption...For a large class of discrete-time multivariable plants with arbitrary relative degrees, the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions. The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known. By reproving the discrete-time Lp and L2σ norm relationship between inputs and outputs, establishing the properties of discrete-time adaptive law, defining the normalizing signal, and relating the signal with all signals in the closed-loop system, the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.展开更多
A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and c...A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. ＂C omposite model reference adaptive control＂of higher performance is seam-lessly combined with ＂positive μ-mod＂,which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.展开更多
Generic polymer models capturing the chain connectivity and excluded-volume interactions between polymer segments can be classified, according to whether or not the 3D integral of the latter diverges, into hard- and s...Generic polymer models capturing the chain connectivity and excluded-volume interactions between polymer segments can be classified, according to whether or not the 3D integral of the latter diverges, into hard- and soft-core models. Taking homogeneous systems of compressible homopolymer melts (or equivalently homopolymer solutions in an implicit, good solvent) in the continuum as an example, we recently compared the correlation effects on the structural and thermodynamic properties of the hard- and soft-core models given by the polymer reference interaction site model (PRISM) theory with the Percus-Yevick (PY) closure (Polymers 2023, 15, 1180). Here we analyzed in detail the numerical errors and behavior of the interchain pair correlation functions (PCFs) given by the PRISM-PY calculations of these models using an efficient numerical approach that we proposed. Our numerical approach has the least number of independent variables to be iteratively solved, analytically treats the discontinuities caused by the non-bonded pair potential (such as that of the hard spheres) and takes only the inverse Fourier transform of the interchain indirect PCF between polymer segments (which is continuous and decays towards 0 with increasing wavenumber much faster than both the interchain direct and total PCFs), and is essential for us to accurately solve the PRISM-PY theory for chain length N as large as 106. To capture the correlation-hole effect, the real-space cut-off in the PRISM calculations should be proportional to the square root of N.展开更多
This paper presents a novel neuro-adaptive cellular immunotherapy control strategy that leverages the high efficiency and applicability of chimeric antigen receptor-engineered T(CAR-T)cells in treating cancer.The prop...This paper presents a novel neuro-adaptive cellular immunotherapy control strategy that leverages the high efficiency and applicability of chimeric antigen receptor-engineered T(CAR-T)cells in treating cancer.The proposed real-time control strategy aims to maximize tumor regression while ensuring the safety of the treatment.A dynamic growth model of cancer cells under the influence of cellular immunotherapy is established for the first time,which aligns with clinical experimental results.Utilizing the backstepping method,a novel consensus reference model is designed to consider the characteristics of cancer cell changes during the treatment process and conform to clinical rules.The model is segmented and continuous,with cancer cells expected to decrease in a step-like manner.Furthermore,a prescribed performance mechanism is constructed to maintain the therapeutic effect of the proposed scheme while ensuring the transient performance of the system.Through the analysis of Lyapunov stability,all signals within the closed-loop system are proven to be semiglobally uniformly ultimately bounded(SGUUB).Simulation results demonstrate the effectiveness of the proposed control strategy,highlighting its potential for clinical application in cancer treatment.展开更多
基金the NSFC has funded 40 research grants for studying the seismic structure beneath continental China, including a grant NSFC42250201 focusing on the CSRM project
文摘The importance of developing high-resolution seismic models to improve understanding of tectonic processes and enhance seismic hazard mitigation programs,along with the rapid expansion of seismic coverage in China,called for a seismological reference model to be established in China.The China Seismological Reference Model(CSRM)project was initiated by the National Natural Science Foundation of China with two primary goals:(1)the CSRM would serve as a primary source for the current state of seismological research in China,and(2)the seismic data and constraints used to construct the CSRM would be used as a backbone open-access cyberinfrastructure for future research in seismology.The CSRM project was also intended to promote data exchange and scientific collaboration in seismology in China.Accordingly,two parallel efforts of the project are being pursued:(1)construction of the CSRM,and(2)development of a CSRM product center.The CSRM is jointly constrained by various types of seismic constraints extracted from the seismic data recorded at 4511 seismic stations in continental China following a top-down approach,with the seismic structures in the shallower part of the Earth constrained first.Construction of the CSRM involves three preparation steps:(1)building datasets of various seismic constraints from the seismic data,(2)developing a method to incorporate the constraints of surface wave observations from regional earthquakes into the inversion of the seismic structure,and(3)constructing high-resolution pre-CSRM seismic models of the velocity structure in the shallow crust and the Pn-velocity structure in the uppermost mantle.In the final process,the CSRM will be constructed by jointly inverting all the seismic constraints using the pre-CSRM models as starting models or a priori structures.The CSRM product center(http://chinageorefmodel.org)archives and distributes three types of products:CSRM models,the Level 1 original seismic data used to extract seismic constraints in the construction of the CSRM,and Level 2 data on the seismic constraints derived from the Level 1 data and the inferred earthquake parameters in the construction of the CSRM.The CSRM product center has archived 141 TB of Level 1 data from 1120 permanent broadband stations in the China Seismic Network Center and 3391 temporary stations from various institutions and data centers around the world,as well as 140 GB of Level 2 data on various seismic constraints and inferred event parameters from the construction of the CSRM.The CSRM is expected to provide significant insights into the composition and tectonic dynamics in continental China and to enhance the capability of various seismic hazard mitigation programs in China from near real-time rapid determination of earthquake parameters to an earthquake early warning system.The CSRM could also provide guidance for focuses in future seismological research and the design of future active and passive seismic experiments in China.Several focuses are suggested for future seismological research in China,along with the building of a national cyberinfrastructure to sustain and expand the operations of the CSRM project.
基金supported in part by National Basic Research Program of China ("973 Program") under contract No.2007CB311106in part by the Special Funds for Key Program of National Standardization Committee of China No.TC260-JCYJ-W1-2008042
文摘P2P is a complex system.Many researches on P2P architecture have been done.These researches have provided valuable references for the standardization of P2P technology.However,the standardization can not be achieved because there are still some problems in existing studies.This paper proposes a 5-layer reference model which clearly defines the functionalities of each layer,and distinctly describes the interface and the relationship between layers.This model is able to clearly show the internal structure of P2P system and the working process of data flow in P2P system.Validation shows that this model is general and rational.
文摘How to protect the database, the kernel resources of information warfare, is becoming more and more important since the rapid development of computer and communication technology. As an application-level firewall, database security proxy can successfully repulse attacks originated from outside the network, reduce to zerolevel damage from foreign DBMS products. We enhanced the capability of the COAST' s firewall reference model by adding a transmission unit modification function and an attribute value mapping function,describes the schematic and semantic layer reference model, and finally forms a reference model for DBMS security proxy which greatly helps in the design and implementation of database security proxies. This modeling process can clearly separate the system functionality into three layers, define the possible security functions for each layer, and estimate the computational cost for each layer.
基金The project supported by the National Science Foundation of China (No. 10175022) and the Tenth-Five-Year Nuclear Energy Development of the Commission of Science Technology and Industry for National Defense, and of the China National Nuclear Corporation
文摘The design of the control system for radial plasma position on HL-2A based on model reference adaptive control (MRAC) principle is presented in this paper. The simulated results show that it can be used to improve the performance of the system greatly. Compared with the classical PID control system, it has obvious advantages in the better dynamic response, the smaller quantity of calculation and the better robustness.
基金supported by the National Natural Science Foundation of China(Nos.62063009,52262050)the National Key Research and Development Program during the 14th 5-Year Plan(No.2023YFB4302100)the Major Science and Technology Research and Development Special Project in Jiangxi Province(No.20232ACE01011).
文摘To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
文摘The design of a turbofan rotor speed control system, using model reference adaptive control（MRAC） method with input and output measurements, is discussed for the purpose of practical application. The nonlinear compensator based on functional link neural network is used to deal with the engine nonlinearity and the hardware-in-loop simulation is also developed. The results show that the nonlinear MRAC controller has the adequate performance of compensating and adapting nonlinearity arising from the change of engine state or working environment. Such feature demonstrates potential practical applications of MRAC for aeroengine control system.
文摘The application of a simplifed model reference adaptive control(SMRAC) on a typical Pump controlled motor electrohydraulic servo system is studied here. The algorithm of first-order scalar SMRAC ac second-order vector SMRAC are derived. Computer simulations of the algorithms are presented. Experimental results prove that the method of control adopted here perform satisfactorily over a wide range of operating conditions.
文摘To design the control system for some homing missile so that the autopilot can transfer guidance command correctly and be robust to disturbances, such as the measurement noises and parameter variation caused by areodynamic floating. The model reference adaptive control was combined with the variable structure control to design a model reference variable structure (MRVS) control system whose control structure is simple and can be realized easily. The simulation results indicate that MRVS can complete the task of transferring guidance command and suppress the distrubances effectively.
文摘Aim To present an adaptive missile control system adaped to the external disturbance and the mobility of target movement. Methods Model reference adaptive control (MRAC) was applied and modified in the light of the traits of the anti tank missile. Results Simulation results demonstrated this control system satisfied the requirement of anti tank missile of dive overhead attack. Conclusion It is successful to use MRAC in missile control system design, the quality is better than that designed by classical control theory.
基金supported by the National Natural Science Foundation of China(61573165,61520106008,61703178)
文摘This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model.A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration.The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out,which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.
文摘A decentralized model reference adaptive control (MRAC) scheme is proposed and applied to design a multivariable control system of a dual-spool turbofan engine.Simulation studies show good static and dynamic performance of the system over the fullflight envelope. Simulation results also show the good effectiveness of reducing interactionin the multivariable system with significant coupling. The control system developed has awide frequency band to satisfy the strict engineering requirement and is practical for engineering applications.
文摘Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adaptive methods can effectively face nonlinearities that are common to many automotive electromechanical devices. We consider here, as a representative case study, the control of a strongly nonlinear automotive actuator. The experimental results confirm the effectiveness of the method to cope with unmodeled nonlinear terms and unknown parameters. In addition, the engineering performance indexes computed on experimental data clearly show that the robust adaptive strategy provides better performance compared with those given by a classical model-based control solution with fixed gains.
基金The work was supported by the National Science Foundation，the Office of Naval Research grant，the AFOSR (Air Force Office of Scientific Research) EOARD (European Office of Aerospace Research and Development) grant，the U.S. Army Research Office grant
文摘This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.
文摘A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.
基金supported by National Natural Science Foundation of China (No. 60774010, 10971256, 60974028)Natural Science Foundation of Jiangsu Province (No. BK2009083)+2 种基金Program for Fundamental Research of Natural Sciences in Universities of Jiangsu Province(No. 07KJB510114)Shandong Provincial Natural Science Foundation of China (No. ZR2009GM008)Natural Science Foundation of Jining University (No. 2009KJLX02)
文摘For a class of discrete-time systems with unmodeled dynamics and bounded disturbance, the design and analysis of robust indirect model reference adaptive control （MRAC） with normalized adaptive law are investigated. The main work includes three parts. Firstly, it is shown that the constructed parameter estimation algorithm not only possesses the same properties as those of traditional estimation algorithms, but also avoids the possibility of division by zero. Secondly, by establishing a relationship between the plant parameter estimate and the controller parameter estimate, some similar properties of the latter are also established. Thirdly, by using the relationship between the normalizing signal and all the signals of the closed-loop system, and some important mathematical tools on discrete-time systems, as in the continuous-time case, a systematic stability and robustness analysis approach to the discrete indirect robust MRAC scheme is developed rigorously.
基金Program for New Century Excellent Talents in Universities of China (No.NCET-05-0607)National Natural Science Foundation ofChina (No.60774010).
文摘For a large class of discrete-time multivariable plants with arbitrary relative degrees, the design and analysis of the direct model reference adaptive control scheme are investigated under less restrictive assumptions. The algorithm is based on a new parametrization derived from the high frequency gain matrix factorization Kp=LDU under the condition that the signs of the leading principal minors of/fp are known. By reproving the discrete-time Lp and L2σ norm relationship between inputs and outputs, establishing the properties of discrete-time adaptive law, defining the normalizing signal, and relating the signal with all signals in the closed-loop system, the stability and convergence of the discrete-time multivariable model reference adaptive control scheme are analyzed rigorously in a systematic fashion as in the continuous-time case.
基金Supported by Deep Exploration Technology and Experimentation Project(201311194-04)
文摘A new scheme of adaptive control is proposed for a class of linear time-invariant（ LTI） dynamical systems,especially in aerospace,with matched parametric uncertainties and input constraints. Based on a typical and conventional direct model reference adaptive control scheme,various modifications have been employed to achieve the goal. ＂C omposite model reference adaptive control＂of higher performance is seam-lessly combined with ＂positive μ-mod＂,which consequently results in a smooth tracking trajectory despite of the input constraints. In addition,bounded-gain forgetting is utilized to facilitate faster convergence of parameter estimates. The stability of the closed-loop systemcan be guaranteed by using Lyapunov theory.The merits and effectiveness of the proposed method are illustrated by a numerical example of the longitudinal dynamical systems of a fixed-wing airplane.
基金the donors of The American Chemical Society Petroleum Research Fund for partial support of this research
文摘Generic polymer models capturing the chain connectivity and excluded-volume interactions between polymer segments can be classified, according to whether or not the 3D integral of the latter diverges, into hard- and soft-core models. Taking homogeneous systems of compressible homopolymer melts (or equivalently homopolymer solutions in an implicit, good solvent) in the continuum as an example, we recently compared the correlation effects on the structural and thermodynamic properties of the hard- and soft-core models given by the polymer reference interaction site model (PRISM) theory with the Percus-Yevick (PY) closure (Polymers 2023, 15, 1180). Here we analyzed in detail the numerical errors and behavior of the interchain pair correlation functions (PCFs) given by the PRISM-PY calculations of these models using an efficient numerical approach that we proposed. Our numerical approach has the least number of independent variables to be iteratively solved, analytically treats the discontinuities caused by the non-bonded pair potential (such as that of the hard spheres) and takes only the inverse Fourier transform of the interchain indirect PCF between polymer segments (which is continuous and decays towards 0 with increasing wavenumber much faster than both the interchain direct and total PCFs), and is essential for us to accurately solve the PRISM-PY theory for chain length N as large as 106. To capture the correlation-hole effect, the real-space cut-off in the PRISM calculations should be proportional to the square root of N.
基金supported in part by the National Natural Science Foundation of China(62203097)the National High-Level Talents Special Support Program(Youth Talent of Technological Innovation of TenThousands Talents Program)(QNBJ-2023-12)the Fundamental Research Funds for the Central Universities(N2404018)
文摘This paper presents a novel neuro-adaptive cellular immunotherapy control strategy that leverages the high efficiency and applicability of chimeric antigen receptor-engineered T(CAR-T)cells in treating cancer.The proposed real-time control strategy aims to maximize tumor regression while ensuring the safety of the treatment.A dynamic growth model of cancer cells under the influence of cellular immunotherapy is established for the first time,which aligns with clinical experimental results.Utilizing the backstepping method,a novel consensus reference model is designed to consider the characteristics of cancer cell changes during the treatment process and conform to clinical rules.The model is segmented and continuous,with cancer cells expected to decrease in a step-like manner.Furthermore,a prescribed performance mechanism is constructed to maintain the therapeutic effect of the proposed scheme while ensuring the transient performance of the system.Through the analysis of Lyapunov stability,all signals within the closed-loop system are proven to be semiglobally uniformly ultimately bounded(SGUUB).Simulation results demonstrate the effectiveness of the proposed control strategy,highlighting its potential for clinical application in cancer treatment.
