纸专注于与不仅输入延期而且测量延期为系统发现 H 测量反馈控制法律。和伪测量， Krein 空间被介绍以便在我们把原来的问题变换成最小化的以后，重新组织的技术能被利用。最后，我们得到需要的控制器并且看到分离原则也是适用的推迟系...纸专注于与不仅输入延期而且测量延期为系统发现 H 测量反馈控制法律。和伪测量， Krein 空间被介绍以便在我们把原来的问题变换成最小化的以后，重新组织的技术能被利用。最后，我们得到需要的控制器并且看到分离原则也是适用的推迟系统到某程度。展开更多
The elimination of the vertical tail in tailless aircraft results in a significant decrease in heading static stability,causing substantial coupling among the three control channels.In addition,in specific operational...The elimination of the vertical tail in tailless aircraft results in a significant decrease in heading static stability,causing substantial coupling among the three control channels.In addition,in specific operational scenarios,the tailless aircraft is prone to electromagnetic interference,leading to the generation of high-frequency noise and consequently compromising their control performance.To address these issues,a decoupling control method based on a fractional-order error extended state observer(FOEESO)is proposed.A nonlinear model of a tailless aircraft with thrust vectoring capabilities is first developed.The decoupling control design for the three control channels is then implemented using FOEESO,with the asymptotic convergence conditions outlined.The proposed method is evaluated through simulations and compared to coupled control and linear extended state observer(LESO)techniques.Numerical simulations demonstrate that the FOEESO-based control methodology achieves effective decoupling,exhibiting 6.9%and 11.7%reductions in integral absolute error(IAE)relative to LESO under nominal operational conditions and critical fault scenarios,respectively.These improvements thereby highlight FOEESO’s capability to enhance closed-loop stability and tracking precision in tailless aircraft control systems.展开更多
Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle ...Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.展开更多
This paper investigates the problem of finite frequency fuzzy H_∞ control for uncertain active vehicle suspension systems, in which sensor failure is taken into account. TakagiSugeno(T-S) fuzzy model is established f...This paper investigates the problem of finite frequency fuzzy H_∞ control for uncertain active vehicle suspension systems, in which sensor failure is taken into account. TakagiSugeno(T-S) fuzzy model is established for considered suspension systems. In order to describe the sensor fault effectively, a corresponding model is introduced. A vital performance index,H_∞ performance, is utilized to measure the drive comfort. In the framework of Kalman-Yakubovich-Popov theory, the H_∞ norm from external perturbation to controlled output is optimized effectively in the frequency domain of 4 Hz-8 Hz to enhance ride comfort level. Meanwhile, three suspension constrained requirements, i.e., ride comfort level, manipulation stability,suspension deflection are also guaranteed. Furthermore, sufficient conditions are developed to design a fuzzy controller to guarantee the desired performance of active suspension systems. Finally, the proposed control scheme is applied to a quarter-vehicle active suspension, and simulation results are given to illustrate the effectiveness of the proposed approach.展开更多
The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensa...The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensation control reaction wheel is put forward. This paper introduces the comparison on design and performance of two satellite attitude control systems, which are separately based on the current control reaction wheel and the speed feedback compensation control reaction wheel. Analysis shows that the speed feedback compensation control flywheel system may effectively suppress the torque fluctuation. Simulation results indicate that the satellite attitude control system with the speed feedback compensation control flywheel has improved performance.展开更多
Deep neural networks,especially face recognition models,have been shown to be vulnerable to adversarial examples.However,existing attack methods for face recognition systems either cannot attack black-box models,are n...Deep neural networks,especially face recognition models,have been shown to be vulnerable to adversarial examples.However,existing attack methods for face recognition systems either cannot attack black-box models,are not universal,have cumbersome deployment processes,or lack camouflage and are easily detected by the human eye.In this paper,we propose an adversarial pattern generation method for face recognition and achieve universal black-box attacks by pasting the pattern on the frame of goggles.To achieve visual camouflage,we use a generative adversarial network(GAN).The scale of the generative network of GAN is increased to balance the performance conflict between concealment and adversarial behavior,the perceptual loss function based on VGG19 is used to constrain the color style and enhance GAN’s learning ability,and the fine-grained meta-learning adversarial attack strategy is used to carry out black-box attacks.Sufficient visualization results demonstrate that compared with existing methods,the proposed method can generate samples with camouflage and adversarial characteristics.Meanwhile,extensive quantitative experiments show that the generated samples have a high attack success rate against black-box models.展开更多
With the increasing demand for oil exploration and subsurface resource development,density imaging plays an increasingly important role in identifying thin layers.However,conventional density imaging tools are limited...With the increasing demand for oil exploration and subsurface resource development,density imaging plays an increasingly important role in identifying thin layers.However,conventional density imaging tools are limited by poor vertical resolution and therefore suffer from errors in accurately estimating the thickness and relative dip angle of thin layers.This affects the accurate evaluation of thin layer oil and gas reserves.To address this issue,this study evaluates the feasibility of employing novel methods based on advanced tool design.First,an electronically controllable X-ray source is selected to replace the traditional Cs-137 source,aiming to improve the tool's vertical resolution while reducing the radioactive risks commonly associated with chemical sources.Simulation results show that the X-ray tool provides sufficient depth of investigation with better vertical resolution while maintaining the same level of measurement sensitivity.Once the tool design is established,Fisher's optimal segmentation method is improved to enhance the estimation of thin layer thickness and relative dip angle.This is completed by transforming identifying thin layer interface into a mathematical clustering problem.The thin layer interface is fitted using the nonlinear least squares method,which enables the calculation of its parameters.The results demonstrate a 38.5%reduction in RMSE(root mean square error)for thin layer thickness and a 33.7%reduction in RMSE for relative dip angle,demonstrating the superior performance of enhanced X-ray tool in thin layer identification.This study provides a new perspective on the design of density imaging tools and assessment of thin layer,which can help in future thin layer hydrocarbon reserves evaluation and development decisions.展开更多
Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each...Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each stage during high-acceleration movements are transmitted through the base frame,resulting in degradation of synchronization performance.To address this challenge,this paper proposes a tube-based model predictive control(tube-MPC)approach for synchronization in lithography machines.First,the proposed modeling method accurately characterizes the coupling disturbances and synchronization dynamics.Subsequently,a tube-MPC approach is developed to ensure that the states of the nominal system are constrained within the terminal constraint set.To reduce the complexity of online computations,an approach is employed to transform online optimization problems into offline problems by creating an online lookup table.This enables the determination of optimal control inputs via a simplified online optimization algorithm.The robustness and trajectory tracking performance of the proposed approach are verified through simulation experiments,demonstrating its effectiveness in enhancing the synchronization performance of multiple motion systems.展开更多
The robust fault detection filter design for uncertain linear systems with nonlinear perturbations is formulated as a two-objective optimization problem. Solvable conditions for the existence of such a robust fault de...The robust fault detection filter design for uncertain linear systems with nonlinear perturbations is formulated as a two-objective optimization problem. Solvable conditions for the existence of such a robust fault detection filter are given in terms of matrix inequalities (MIs), which can be solved by applying iterative linear matrix inequality (ILMI) techniques. Particularly, compared with two existing LMI methods, the developed algorithm is more generalized and less conservative.An illustrative example is given to show the effectiveness of the proposed method.展开更多
Combining the clonal selection mechanism of the immune system with the evolution equations of particle swarm optimization, an advanced algorithm was introduced for functions optimization. The advantages of this algori...Combining the clonal selection mechanism of the immune system with the evolution equations of particle swarm optimization, an advanced algorithm was introduced for functions optimization. The advantages of this algorithm lies in two aspects. Via immunity operation, the diversity of the antibodies was maintained, and the speed of convergent was improved by using particle swarm evolution equations. Simulation programme and three functions were used to check the effect of the algorithm. The advanced algorithm were compared with clonal selection algorithm and particle swarm algorithm. The results show that this advanced algorithm can converge to the global optimum at a great rate in a given range, the performance of optimization is improved effectively.展开更多
An equivalent definition of hypermatrices is introduced.The matrix expression of hypermatrices is proposed.Using permu-tation matrices,the conversion between different matrix expressions is revealed.The various kinds ...An equivalent definition of hypermatrices is introduced.The matrix expression of hypermatrices is proposed.Using permu-tation matrices,the conversion between different matrix expressions is revealed.The various kinds of contracted products of hypermatrices are realized by semi-tensor products(STP)of matrices via matrix expressions of hypermatrices.展开更多
A new method for the imaging of cardiac electrical activity in patients with complete right bundle branch block （CRBBB） or complete left bundle branch block （CLBBB） is investigated using magnetocardiographic recor...A new method for the imaging of cardiac electrical activity in patients with complete right bundle branch block （CRBBB） or complete left bundle branch block （CLBBB） is investigated using magnetocardiographic recordings of the surface of the body. This is based on the assumption that an equivalent single-current dipole moves along the unblocked bundle branch, whose position in the measurement plane is expressed in terms of the maximum and minimum, as well as the maximum gradient value of the measured magnetic field. The trajectory of the moving dipole on the measurement plane is indicative of theexcitation conduction of the CRBBB or CLBBB subject during ventricular depolarization and repolarization, which is deduced by comparing each change between the dipole moment and the maximum current density in a corresponding pseudo-current density map. In summary, this method can distinguish CRBBB from CLBBB subjects by means of the dipole depth and two dipole moment components. The possibility of visualizing the excitation conduction in a CRBBB or CLBBB subject during ventricular depolarization and repolarization is then discussed.展开更多
In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control (NMPC) scheme was proposed. Based on setting suitable kinet...In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control (NMPC) scheme was proposed. Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase (SSP) and three subphases of Double Support Phase (DSP) ,complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems. A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming (SQP) . It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.展开更多
Due to flexible drive-by-wire technology,vehicle stability control can improve handling and lateral stability under extreme conditions.However,this technology can also increase the probability of random transmission d...Due to flexible drive-by-wire technology,vehicle stability control can improve handling and lateral stability under extreme conditions.However,this technology can also increase the probability of random transmission delay.This paper proposes a nonlinear model predictive control(NMPC)strategy to improve vehicle stability and compensate for the random time delay.First,by combining the nonlinear dynamic characteristics and driver behavior,we obtain a stable region of the yaw rate and the sideslip angle under complex driving conditions.Second,an NMPC controller is designed to track the reference values in the identified stable region to improve the handling and lateral stability.Finally,the actuator receives the optimized control sequence and compensates for the random time delay of the transmission channel.CarSim/Simulink simulation and hardware-in-the-loop experiment results show that the proposed controller with dynamic boundary conditions can better track the expected value of the yaw rate and suppress the sideslip angle under low adhesion road conditions.展开更多
The semi-tensor product(STP)of matrices is generalized to multidimensional arrays,called the compound product of hypermatrices.The product is first defined for three-dimensional hypermatrices with compatible orders an...The semi-tensor product(STP)of matrices is generalized to multidimensional arrays,called the compound product of hypermatrices.The product is first defined for three-dimensional hypermatrices with compatible orders and then extended to general cases.Three different types of hyperdeterminants are introduced and certain properties are revealed.The Lie groups and Lie algebras corresponding to the hypermatrix products are constructed.Finally,these results are applied to dynamical systems.展开更多
文摘The elimination of the vertical tail in tailless aircraft results in a significant decrease in heading static stability,causing substantial coupling among the three control channels.In addition,in specific operational scenarios,the tailless aircraft is prone to electromagnetic interference,leading to the generation of high-frequency noise and consequently compromising their control performance.To address these issues,a decoupling control method based on a fractional-order error extended state observer(FOEESO)is proposed.A nonlinear model of a tailless aircraft with thrust vectoring capabilities is first developed.The decoupling control design for the three control channels is then implemented using FOEESO,with the asymptotic convergence conditions outlined.The proposed method is evaluated through simulations and compared to coupled control and linear extended state observer(LESO)techniques.Numerical simulations demonstrate that the FOEESO-based control methodology achieves effective decoupling,exhibiting 6.9%and 11.7%reductions in integral absolute error(IAE)relative to LESO under nominal operational conditions and critical fault scenarios,respectively.These improvements thereby highlight FOEESO’s capability to enhance closed-loop stability and tracking precision in tailless aircraft control systems.
基金Supported by National Natural Science Foundation of China （60574016）, the National Science Foundation for Distinguished Young Scholars of China （60825304）, and the Taishan Scholar Program of Shandong Province
基金the National Nature Science Foundation of China(Nos.61790564,U1664257)the National Key RD Program of China(No.2018YFB0104805)+1 种基金the Funds for Joint Project of Jilin Province and Jilin University(No.SXGJSF2017-2-1-1)the Funds of the Fundamental Research for the Central Universities.
文摘Aiming at the actuator time delay caused by the drive-by-wire technology,a novel manoeuvre stability controller based on model predictive control is proposed for full drive-by-wire vehicles.Firstly,the future vehicle dynamics are predicted by a twodegree-of-freedom vehicle model with input delay.Secondly,in order to prevent the vehicle from destabilizing due to excessive side slip angles,the determined ideal yaw rate and side slip angle are tracked simultaneously by optimizing the front wheel angle and additional yaw moment.Moreover,in order to improve the trajectory tracking ability,a side slip angle constraint determined by phase plane stability boundaries is added to the cost function.The results of Matlab and veDYNA co-simulation show that the regulated yaw rate can track the reference value well and the side slip angle decreases.Meanwhile,the trajectory tracking ability is improved obviously by compensating the time delay.
基金partially supported by the National Natural Science Foundation of China(61622302,61673072,61573070)Guangdong Natural Science Funds for Distinguished Young Scholar(2017A030306014)+1 种基金the Department of Education of Guangdong Province(2016KTSCX030)the Department of Education of Liaoning Province(LZ2017001)
文摘This paper investigates the problem of finite frequency fuzzy H_∞ control for uncertain active vehicle suspension systems, in which sensor failure is taken into account. TakagiSugeno(T-S) fuzzy model is established for considered suspension systems. In order to describe the sensor fault effectively, a corresponding model is introduced. A vital performance index,H_∞ performance, is utilized to measure the drive comfort. In the framework of Kalman-Yakubovich-Popov theory, the H_∞ norm from external perturbation to controlled output is optimized effectively in the frequency domain of 4 Hz-8 Hz to enhance ride comfort level. Meanwhile, three suspension constrained requirements, i.e., ride comfort level, manipulation stability,suspension deflection are also guaranteed. Furthermore, sufficient conditions are developed to design a fuzzy controller to guarantee the desired performance of active suspension systems. Finally, the proposed control scheme is applied to a quarter-vehicle active suspension, and simulation results are given to illustrate the effectiveness of the proposed approach.
文摘The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system. To solve this problem, the idea of speed feedback compensation control reaction wheel is put forward. This paper introduces the comparison on design and performance of two satellite attitude control systems, which are separately based on the current control reaction wheel and the speed feedback compensation control reaction wheel. Analysis shows that the speed feedback compensation control flywheel system may effectively suppress the torque fluctuation. Simulation results indicate that the satellite attitude control system with the speed feedback compensation control flywheel has improved performance.
基金the National Key Research and Development Program of China(No.2022ZD0210500)the National Natural Science Foundation of China(Nos.61972067,U21A20491,and 62103437)the Dalian Outstanding Youth Science Foundation(No.2022RJ01)。
文摘Deep neural networks,especially face recognition models,have been shown to be vulnerable to adversarial examples.However,existing attack methods for face recognition systems either cannot attack black-box models,are not universal,have cumbersome deployment processes,or lack camouflage and are easily detected by the human eye.In this paper,we propose an adversarial pattern generation method for face recognition and achieve universal black-box attacks by pasting the pattern on the frame of goggles.To achieve visual camouflage,we use a generative adversarial network(GAN).The scale of the generative network of GAN is increased to balance the performance conflict between concealment and adversarial behavior,the perceptual loss function based on VGG19 is used to constrain the color style and enhance GAN’s learning ability,and the fine-grained meta-learning adversarial attack strategy is used to carry out black-box attacks.Sufficient visualization results demonstrate that compared with existing methods,the proposed method can generate samples with camouflage and adversarial characteristics.Meanwhile,extensive quantitative experiments show that the generated samples have a high attack success rate against black-box models.
基金the support of theNational Natural Science Foundation of China(U23B20151 and52171253)。
文摘With the increasing demand for oil exploration and subsurface resource development,density imaging plays an increasingly important role in identifying thin layers.However,conventional density imaging tools are limited by poor vertical resolution and therefore suffer from errors in accurately estimating the thickness and relative dip angle of thin layers.This affects the accurate evaluation of thin layer oil and gas reserves.To address this issue,this study evaluates the feasibility of employing novel methods based on advanced tool design.First,an electronically controllable X-ray source is selected to replace the traditional Cs-137 source,aiming to improve the tool's vertical resolution while reducing the radioactive risks commonly associated with chemical sources.Simulation results show that the X-ray tool provides sufficient depth of investigation with better vertical resolution while maintaining the same level of measurement sensitivity.Once the tool design is established,Fisher's optimal segmentation method is improved to enhance the estimation of thin layer thickness and relative dip angle.This is completed by transforming identifying thin layer interface into a mathematical clustering problem.The thin layer interface is fitted using the nonlinear least squares method,which enables the calculation of its parameters.The results demonstrate a 38.5%reduction in RMSE(root mean square error)for thin layer thickness and a 33.7%reduction in RMSE for relative dip angle,demonstrating the superior performance of enhanced X-ray tool in thin layer identification.This study provides a new perspective on the design of density imaging tools and assessment of thin layer,which can help in future thin layer hydrocarbon reserves evaluation and development decisions.
基金supported by National Natural Science Foundation of China(52375530,52075132)Natural Science Foundation of Heilongjiang Province(YQ2022E025)+2 种基金State Key Laboratory of Precision Electronic Manufacturing Technology and Equipment(Guangdong University of Technology)(JMDZ202312)Fundamental Research Funds for the Central Universities(HIT.OCEF.2024034)Space Drive and Manipulation Mechanism Laboratory of BICE and National Key Laboratory of Space Intelligent Control(BICE-SDMM-2024-01).
文摘Lithography machines operate in scanning mode for the fabrication of large-scale integrated circuits(ICs),requiring high-precision synchronous motion between the reticle and wafer stages.Disturbances generated by each stage during high-acceleration movements are transmitted through the base frame,resulting in degradation of synchronization performance.To address this challenge,this paper proposes a tube-based model predictive control(tube-MPC)approach for synchronization in lithography machines.First,the proposed modeling method accurately characterizes the coupling disturbances and synchronization dynamics.Subsequently,a tube-MPC approach is developed to ensure that the states of the nominal system are constrained within the terminal constraint set.To reduce the complexity of online computations,an approach is employed to transform online optimization problems into offline problems by creating an online lookup table.This enables the determination of optimal control inputs via a simplified online optimization algorithm.The robustness and trajectory tracking performance of the proposed approach are verified through simulation experiments,demonstrating its effectiveness in enhancing the synchronization performance of multiple motion systems.
基金Supported by National Natural Science Foundation of P. R. China (60374021 and 60274015)Natural Science Foundation of Shandong Province (Y2002G05)
文摘The robust fault detection filter design for uncertain linear systems with nonlinear perturbations is formulated as a two-objective optimization problem. Solvable conditions for the existence of such a robust fault detection filter are given in terms of matrix inequalities (MIs), which can be solved by applying iterative linear matrix inequality (ILMI) techniques. Particularly, compared with two existing LMI methods, the developed algorithm is more generalized and less conservative.An illustrative example is given to show the effectiveness of the proposed method.
基金Project(A1420060159) supported by the National Basic Research of China projects(60234030, 60404021) supported by the National Natural Science Foundation of China
文摘Combining the clonal selection mechanism of the immune system with the evolution equations of particle swarm optimization, an advanced algorithm was introduced for functions optimization. The advantages of this algorithm lies in two aspects. Via immunity operation, the diversity of the antibodies was maintained, and the speed of convergent was improved by using particle swarm evolution equations. Simulation programme and three functions were used to check the effect of the algorithm. The advanced algorithm were compared with clonal selection algorithm and particle swarm algorithm. The results show that this advanced algorithm can converge to the global optimum at a great rate in a given range, the performance of optimization is improved effectively.
基金This work was supported partly by the National Natural Science Foundation of China(NSFC)(Nos.62073315,62103305)the Shanghai Pujiang Program(No.21PJ 1413100)China Postdoctoral Science Foundation(Nos.2021M703423,2022T150686).
文摘An equivalent definition of hypermatrices is introduced.The matrix expression of hypermatrices is proposed.Using permu-tation matrices,the conversion between different matrix expressions is revealed.The various kinds of contracted products of hypermatrices are realized by semi-tensor products(STP)of matrices via matrix expressions of hypermatrices.
基金Project supported in part by the National Natural Science Foundation of China(Grant No.60771030)the National High-Technology Research and DevelopmentProgram of China(Grant No.2008AA02Z308)+3 种基金the Shanghai Science and Technology Development Foundation(Grant No.08JC1421800)the Shanghai Leading Academic Discipline Project(Grant No.B004)the Open Project of State Key Laboratory of Function Materials for Information(Shanghai Instituteof Microsystem and Information Technology,Chinese Academy of Sciences)the Key Laboratory of Medical Imaging Computing and Computer Assisted Intervention of Shanghai(Grant No.13DZ2272200-2)
文摘A new method for the imaging of cardiac electrical activity in patients with complete right bundle branch block （CRBBB） or complete left bundle branch block （CLBBB） is investigated using magnetocardiographic recordings of the surface of the body. This is based on the assumption that an equivalent single-current dipole moves along the unblocked bundle branch, whose position in the measurement plane is expressed in terms of the maximum and minimum, as well as the maximum gradient value of the measured magnetic field. The trajectory of the moving dipole on the measurement plane is indicative of theexcitation conduction of the CRBBB or CLBBB subject during ventricular depolarization and repolarization, which is deduced by comparing each change between the dipole moment and the maximum current density in a corresponding pseudo-current density map. In summary, this method can distinguish CRBBB from CLBBB subjects by means of the dipole depth and two dipole moment components. The possibility of visualizing the excitation conduction in a CRBBB or CLBBB subject during ventricular depolarization and repolarization is then discussed.
基金Sponsored by the National High Technology Research and Development Program of China ( 863 Program) ( Grant No. 2006AA04Z201)
文摘In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control (NMPC) scheme was proposed. Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase (SSP) and three subphases of Double Support Phase (DSP) ,complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems. A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming (SQP) . It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.
基金the National Natural Science Foundation of China(Grants No.62073152,61790564 and Grant U1964202)in part by the Graduate Innovation Fund of Jilin University(Grant No.101832020CX174).
文摘Due to flexible drive-by-wire technology,vehicle stability control can improve handling and lateral stability under extreme conditions.However,this technology can also increase the probability of random transmission delay.This paper proposes a nonlinear model predictive control(NMPC)strategy to improve vehicle stability and compensate for the random time delay.First,by combining the nonlinear dynamic characteristics and driver behavior,we obtain a stable region of the yaw rate and the sideslip angle under complex driving conditions.Second,an NMPC controller is designed to track the reference values in the identified stable region to improve the handling and lateral stability.Finally,the actuator receives the optimized control sequence and compensates for the random time delay of the transmission channel.CarSim/Simulink simulation and hardware-in-the-loop experiment results show that the proposed controller with dynamic boundary conditions can better track the expected value of the yaw rate and suppress the sideslip angle under low adhesion road conditions.
基金supported partly by the National Natural Science Foundation of China under Grant Nos.62073315 and 62103305Shanghai Pujiang Program under Grant No.21PJ 1413100China Postdoctoral Science Foundation under Grant Nos.2021M703423 and 2022T150686。
文摘The semi-tensor product(STP)of matrices is generalized to multidimensional arrays,called the compound product of hypermatrices.The product is first defined for three-dimensional hypermatrices with compatible orders and then extended to general cases.Three different types of hyperdeterminants are introduced and certain properties are revealed.The Lie groups and Lie algebras corresponding to the hypermatrix products are constructed.Finally,these results are applied to dynamical systems.
