Adaptive fixed-time prescribed performance control of vehicular platoons with unknown dead-zone and actuator saturation

This article focuses on the problem of fixed-time prescribed performance platoon control for heterogeneous vehicles with unknown dead-zone and actuator saturation. First, an equivalent transformation is developed to approximate the actuator nonlinearity (i.e., dead-zone and saturation), which reduces the complexity of controller design. Then, to guarantee the tracking errors converge to the predetermined region in the given time, a modified prescribed performance function is presented. Based on this, a novel adaptive sliding mode control scheme is developed in the context of fixed-time theory, which is proved to be capable of ensuring individual vehicle stability and string stability in fixed time. In addition, under the proposed control scheme, the convergence time is independent of initial conditions of the system. Finally, numerical simulations are carried out to demonstrate the effectiveness of the proposed control scheme.     

Development,integration, and field evaluation of an autonomous citrus-harvesting robot

Citrus harvesting is a labor-intensive and time-intensive task. As the global population continues to age, labor costs are increasing dramatically. Therefore, the citrus-harvesting robot has attracted considerable attention from the business and academic communities. However, robotic harvesting in unstructured and natural citrus orchards remains a challenge. This study aims to address some challenges faced in commercializing citrus-harvesting robots. We present a fully integrated, autonomous, and innovative solution for citrus-harvesting robots to overcome the harvesting difficulties derived from the natural growth characteristics of citrus. This solution uses a fused simultaneous localization and mapping algorithm based on multiple sensors to perform high-precision localization and navigation for the robot in the field orchard. Besides, a novel visual method for estimating fruit poses is proposed to cope with the randomization of citrus growth orientations. Further, a new end-effector is designed to improve the success and conformity rate of citrus stem cutting. Finally, a fully autonomous harvesting robot system has been developed and integrated. Field evaluations showed that the robot could harvest citrus continuously with an overall success rate of 87.2% and an average picking time of 10.9 s/fruit. These efforts provide a solid foundation for the future commercialization of citrus-harvesting robots.     

An adaptive reaching law of chattering-free discrete-time sliding mode control for systems with external disturbance

An adaptive reaching law of chattering-free discrete-time sliding mode control is proposed for the systems with external disturbance. An adaptive function is proposed in the reaching law which can increase reaching speed as sliding variable is far away from zero and avoid undesired chattering when sliding variable is close to origin. Moreover, a third-order backward difference of disturbance is added to obtain a narrower quasi-sliding mode band (QSMB). Both the closed-loop system performance and finite reaching steps to achieve the desired QSMB are theoretically analyzed. The simulation results verify the effectiveness of the proposed control strategy.     

Sliding mode learning control for T-S fuzzy system and an application to hypersonic flight vehicle

Sliding mode-based learning control is presented for T-S fuzzy system. A T-S fuzzy model with both uncertainties and unmodeled dynamics is proposed firstly, in which the information of uncertainties and unmodeled dynamics are assumed to be unknown. Then, according to a given reference model, state-tracking error system is built. Respecting facts, the input matrices of the built T-S fuzzy model are different from each other. An extended state observer is built for estimating the unknown uncertainties and unmodeled dynamics, and a corresponding sliding surface is proposed. A learning controller is then presented for the closed loop system. Moreover, a numerical simulation result on hypersonic flight vehicles is considered to testify the controller's availability.     

基于分段电容阵列的改进型逐次逼近型ADC

为缩短高速模数转换器(ADC)中高位(MSB)电容建立时间以及减小功耗,提出了一种基于分段式电容阵列的改进型逐次逼近型(SAR)ADC结构,通过翻转小电容阵列代替翻转大电容阵列以产生高位数字码,并利用180 nm CMOS工艺实现和验证了此ADC结构。该结构一方面可以缩短产生高位数码字过程中的转换时间,提高量化速度;另一方面其可以延长大电容的稳定时间,减小参考电压的负载。通过缩小比较器输入对管的面积以减小寄生电容带来的误差,提升高位数字码的准确度。同时,利用一次性校准技术减小比较器的失配电压。最终,采用180 nm CMOS工艺实现该10 bit SAR ADC,以验证该改进型结构。结果表明,在1.8 V电源电压、780μW功耗、有电路噪声和电容失配情况下,该改进型SAR ADC得到了58.0 dB的信噪失真比(SNDR)。     

小型化低功耗机载显示器图形系统设计与实现

为了满足机载显示器图形生成系统的小尺寸、低功耗需求,提出了一种基于龙芯2K1000的全国产图形生成与处理方案。该方案以2K1000为核心构建硬件平台,使用2K1000内部集成的中央处理器、图形处理器、显示控制器,以及外部的内存实现图形的计算生成和双缓存显示,配合国产可编程逻辑器件实现图形与外视频的叠加显示及机载通信总线扩展。软件上采用航空专用的国产天脉操作系统,基于天脉操作系统设计了关键的图形显示驱动、帧存驱动、显示控制器驱动。实验结果表明,在输出1 024 pixel×768 pixel分辨率显示时,典型机载图形画面帧率达到35 frame/s,整体功耗约10 W。该方案扩展性强、功耗低,满足实时显示需求,在机载显示器领域有着广泛的应用空间。     

Base on the Public Scientific Quality Improvement Research on Risk Early Warning of Online Shopping

LTE-A network offers data rates up to 1 Gbps which is 10?×?faster than LTE catering to growing demand of users. LTE improves user experience by reducing latency and increasing bandwidth efficiency. The emerging services and key enhancements such as Further Enhancement of Downlink Multiple-Input Multiple-Output (MIMO), Heterogeneous Networks, and Carrier Aggregation (CA) in LTE-A has improved performance of LTE-A networks. Scheduling optimization still remains one of the biggest challenges in high speed data transmission network. Scheduling in LTE-A networks are performed at various levels; User Equipment (UE), Serving Gateway (SGW), Air Interface and eNodeB. Remote Radio Head (RRH) is an extremely specialized device installed at antenna of eNodeB for optical to electrical signal conversion, amplification of signals and Uplink and Downlink Scheduling. Resource scheduling at Antenna of eNodeB module is constituted as a significant research optimization area. This paper proposes a soft computing based scheduler for RRH. Results of proposed technique are evaluated on Fairness Index, Throughput, Spectral Efficiency and Rank Indicator Distribution. The proposed algorithm aims to improve performance of scheduling. From experimental results, it is observed that proposed model succeeds to achieve significantly better performance as compared to state-of-art algorithms.

     

A Plug-and-Play,Scalable Control Method for AC Island Microgrid

Wireless Personal Communications - In this paper, a scalable, plug-and-play (PnP) and system-stable synthesis control method is proposed for the AC island microgrid consisting of a distributed...