In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy...In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.展开更多
This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach i...This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.展开更多
A novel speed-assigned method is applied to the position tracking control of switched reluctance motor(SRM).A speed control freedom can be drawn into the position control through speed assignment. Adaptive backsteppin...A novel speed-assigned method is applied to the position tracking control of switched reluctance motor(SRM).A speed control freedom can be drawn into the position control through speed assignment. Adaptive backstepping control is used to design the position controller for the SRM. The accuracy of position tracking of the SRM can be enhanced with speed assignment. A disturbance observer is further designed to enhance the estimation accuracy of the unknown load torque. Simulation results certify that the design scheme is right and effective.展开更多
The quality of ensemble forecasting is seriously affected by sample quality.In this study,the distributions of ensemble members based on the observed track and intensity of tropical cyclones(TCs)were optimized and the...The quality of ensemble forecasting is seriously affected by sample quality.In this study,the distributions of ensemble members based on the observed track and intensity of tropical cyclones(TCs)were optimized and their influence on the simulation results was analyzed.Simulated and observed tracks and intensities of TCs were compared and these two indicators were combined and weighted to score the sample.Samples with higher scores were retained and samples with lower scores were eliminated to improve the overall quality of the ensemble forecast.For each sample,the track score and intensity score were added as the final score of the sample with weight proportions of 10 to 0,9 to 1,8 to 2,7 to 3,6 to 4,5 to 5.These were named as“tr”,“91”,“82”,“73”,“64”,and“55”,respectively.The WRF model was used to simulate five tropical cyclones in the northwestern Pacific to test the ability of this scheme to improve the forecast track and intensity of these cyclones.The results show that the sample optimization effectively reduced the track and intensity error,“55”usually had better performance on the short-term intensity prediction,and“tr”had better performance in short-term track prediction.From the overall performance of the track and intensity simulation,“91”was the best and most stable among all sample optimization schemes.These results may provide some guidance for optimizing operational ensemble forecasting of TCs.展开更多
Nowadays,ensemble forecasting is popular in numerical weather prediction(NWP).However,an ensemble may not produce a perfect Gaussian probability distribution due to limited members and the fact that some members signi...Nowadays,ensemble forecasting is popular in numerical weather prediction(NWP).However,an ensemble may not produce a perfect Gaussian probability distribution due to limited members and the fact that some members significantly deviate from the true atmospheric state.Therefore,event samples with small probabilities may downgrade the accuracy of an ensemble forecast.In this study,the evolution of tropical storms(weak typhoon)was investigated and an observed tropical storm track was used to limit the probability distribution of samples.The ensemble forecast method used pure observation data instead of assimilated data.In addition,the prediction results for three tropical storm systems,Merbok,Mawar,and Guchol,showed that track and intensity errors could be reduced through sample optimization.In the research,the vertical structures of these tropical storms were compared,and the existence of different thermal structures was discovered.One possible reason for structural differences is sample optimization,and it may affect storm intensity and track.展开更多
文摘In this paper,the fixed-time time-varying formation of heterogeneous multi-agent systems(MASs) based on tracking error observer under denial-of-service(DoS) attacks is investigated.Firstly,the dynamic pinning strategy is used to reconstruct the communication channel for the system that suffers from DoS attacks to prevent the discontinuous transmission information of the communication network from affecting MASs formation.Then,considering that the leader state is not available to each follower under DoS attacks,a fixed-time distributed observer without velocity information is constructed to estimate the tracking error between followers and the leader.Finally,adaptive radial basis function neural network(RBFNN) is used to approximate the unknown ensemble disturbances in the system,and the fixed-time time-varying formation scheme is designed with the constructed observer.The effectiveness of the proposed control algorithm is demonstrated by the numerical simulation.
基金supported in part by the National Natural Science Foundation of China (41276085)the Natural Science Foundation of Shandong Province (ZR2015FM004)
文摘This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles(AUVs) in the presence of wave disturbances. An approximate optimal tracking control(AOTC) approach is proposed. Firstly, a six-degrees-of-freedom(six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV's system is represented by the exosystem. Then, the coupled two-point boundary value(TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit(REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm.
基金supported by the National Natural Science Foundation of China(61273086)
文摘A novel speed-assigned method is applied to the position tracking control of switched reluctance motor(SRM).A speed control freedom can be drawn into the position control through speed assignment. Adaptive backstepping control is used to design the position controller for the SRM. The accuracy of position tracking of the SRM can be enhanced with speed assignment. A disturbance observer is further designed to enhance the estimation accuracy of the unknown load torque. Simulation results certify that the design scheme is right and effective.
基金This work was supported by the National Key R&D Program of China(Grant No.2018YFC1507602,2017YFC1501603)the National Natural Science Foundation of China(Grant No.41975136)+1 种基金the Guangdong Basic and Applied Basic Research Foundation(Grant No.2019A1515011118)Sci-entific research project of Shanghai Science and Technology Com-mission(19dz1200101).
文摘The quality of ensemble forecasting is seriously affected by sample quality.In this study,the distributions of ensemble members based on the observed track and intensity of tropical cyclones(TCs)were optimized and their influence on the simulation results was analyzed.Simulated and observed tracks and intensities of TCs were compared and these two indicators were combined and weighted to score the sample.Samples with higher scores were retained and samples with lower scores were eliminated to improve the overall quality of the ensemble forecast.For each sample,the track score and intensity score were added as the final score of the sample with weight proportions of 10 to 0,9 to 1,8 to 2,7 to 3,6 to 4,5 to 5.These were named as“tr”,“91”,“82”,“73”,“64”,and“55”,respectively.The WRF model was used to simulate five tropical cyclones in the northwestern Pacific to test the ability of this scheme to improve the forecast track and intensity of these cyclones.The results show that the sample optimization effectively reduced the track and intensity error,“55”usually had better performance on the short-term intensity prediction,and“tr”had better performance in short-term track prediction.From the overall performance of the track and intensity simulation,“91”was the best and most stable among all sample optimization schemes.These results may provide some guidance for optimizing operational ensemble forecasting of TCs.
基金Science and Technology Planning Project of Guangdong Province(2017B020244002,2018B020208004,2017B030314140)Natural Science Foundation of Guangdong Province(2019A1515011118)+1 种基金National Natural Science Fund(41705089)Science and Technology Project of Guangdong Meteorological Service(GRMC2017Q01)
文摘Nowadays,ensemble forecasting is popular in numerical weather prediction(NWP).However,an ensemble may not produce a perfect Gaussian probability distribution due to limited members and the fact that some members significantly deviate from the true atmospheric state.Therefore,event samples with small probabilities may downgrade the accuracy of an ensemble forecast.In this study,the evolution of tropical storms(weak typhoon)was investigated and an observed tropical storm track was used to limit the probability distribution of samples.The ensemble forecast method used pure observation data instead of assimilated data.In addition,the prediction results for three tropical storm systems,Merbok,Mawar,and Guchol,showed that track and intensity errors could be reduced through sample optimization.In the research,the vertical structures of these tropical storms were compared,and the existence of different thermal structures was discovered.One possible reason for structural differences is sample optimization,and it may affect storm intensity and track.
