This paper suggests a new method to design observers in a class of nonlinear time‐delay systems with delays in system states. The method is based on an extension of the well‐known state‐dependent Riccati equation (SDRE) technique. The conditions for locally asymptotic stability of the proposed observer are investigated. Some numerical simulations are provided to show the design procedure and the flexibility of the proposed observer. 相似文献
This paper is concerned with the tracking control problem of robotic systems perturbed by time-varying parameters, unmodelled dynamics and external force (and moment) disturbances. The upper bound of system uncertainties and disturbances is not required for controller design. Also, no limitations are assumed on the speed of variation and the magnitude of unknown parameters and perturbations. An adaptive algorithm with simplicity and universality properties is proposed to ensure robust tracking. Presenting the closed loop stability proof analytically, the tracking controller is applied to a two-link robot manipulator and the simulation results are demonstrated to show the effectiveness of the method. 相似文献
This paper investigates the state feedback stabilization problem for a class of positive switched systems with time-varying delays under asynchronous switching in the frameworks of continuous-time and discrete-time dynamics. The so-called asynchronous switching means that the switches between the candidate controllers and system modes are asynchronous. By constructing an appropriate co-positive type Lyapunov-Krasovskii functional and further allowing the functional to increase during the running time of active subsystems, sufficient conditions are provided to guarantee the exponential stability of the resulting closed-loop systems, and the corresponding controller gain matrices and admissible switching signals are presented. Finally, two illustrative examples are given to show the effectiveness of the proposed methods. 相似文献
A new hydrazine sensor has been fabricated by immobilizing hematoxylin at the surface of a glassy carbon electrode (GCE) modified with multi-wall carbon nanotube (MWCNT). The adsorbed thin films of hematoxylin on the MWCNT modified GCE show one pair of peaks with surface confined characteristics. The hematoxylin MWCNT (HMWCNT) modified GCE shows highly catalytic activity toward hydrazine electro-oxidation. The results show that the peak potential of hydrazine at HMWCNT modified GCE surface shifted by about 167 and 255 mV toward negative values compared with that at an MWCNT and activated modified GCE surface, respectively. In addition, at HMWCNT modified electrode surface remarkably improvement the sensitivity of determination of hydrazine. The kinetic parameters, such as the electron transfer coefficient, α, and the standard heterogeneous rate constant, k0, for oxidation of hydrazine at the HMWCNT modified GCE were determined and also is shown that the heterogeneous rate constant, k′, is strongly potential dependent. The overall number of electron involved in the catalytic oxidation of hydrazine and the number of electrons involved in the rate-determining steps are 2 and 1, respectively. The amperometric detection of hydrazine is carried out at 220 mV in 0.1 M phosphate buffer solution (pH 7) with linear response range 2.0-122.8 μM hydrazine, detection limit of 0.68 μM and sensitivity of 0.0208 μA μM−1. Finally the amperometric response for hydrazine determination is reproducible, fast and extremely stable, with no loss in sensitivity over a continual 400 s operation. 相似文献
High‐pressure vapour‐liquid equilibria for binary and ternary high polar and asymmetric systems are calculated using the Peng‐Robinson‐Stryjek‐Vera equation of state coupled with the Twu‐Coon (TWMR), the Orbey‐Sandler (OSMR) and the Wong‐Sandler (WSMR) mixing rules. Modified UNIFAC model is used for determining the activity coefficient and excess Gibbs free energy. The calculated results are compared with the experimental data and good agreement is observed. The average absolute deviation percents (AAD%)s indicated that the WSMR has less AAD% than other mixing rules in most of cases. 相似文献
Multibody System Dynamics - Collision between hard objects causes abrupt changes in the velocities of the system, which are characterized by very large contact forces over very small time... 相似文献
Mapping vulnerability to Saltwater Intrusion (SWI) in coastal aquifers is studied in this paper using the GALDIT framework but with a novelty of transforming the concept of vulnerability indexing to risk indexing. GALDIT is the acronym of 6 data layers, which are put consensually together to invoke a sense of vulnerability to the intrusion of saltwater against aquifers with freshwater. It is a scoring system of prescribed rates to account for local variations; and prescribed weights to account for relative importance of each data layer but these suffer from subjectivity. Another novelty of the paper is to use fuzzy logic to learn rate values and catastrophe theory to learn weight values and these together are implemented as a scheme and hence Fuzzy-Catastrophe Scheme (FCS). The GALDIT data layers are divided into two groups of Passive Vulnerability Indices (PVI) and Active Vulnerability Indices (AVI), where their sum is Total Vulnerability Index (TVI) and equivalent to GALDIT. Two additional data layers (Pumping and Water table decline) are also introduced to serve as Risk Actuation Index (RAI). The product of TVI and RAI yields Risk Indices. The paper applies these new concepts to a study area, subject to groundwater decline and a possible saltwater intrusion problem. The results provide a proof-of-concept for PVI, AVI, RAI and RI by studying their correlation with groundwater quality samples using the fraction of saltwater (fsea), Groundwater Quality Indices (GQI) and Piper diagram. Significant correlations between the appropriate values are found and these provide a new insight for the study area.
Automation of deburring and cleaning of castings is desirable for many reasons. The major reasons are dangerous working conditions, difficulties in finding workers for cleaning sections, and improved profitability. A suitable robot cell capable of using different tools, such as cup grinders, disc grinders and rotary files, is the solution. This robot should be completed with sensors in order to keep the quality of the cleaned surface at an acceptable level. Although using sensors simplifies both the programming and quality control there are still other problems that need to be solved. These involve selection of machining data, e.g. feeding rate and grinding force in a force controlled operation based on parameters such as tool type, disc grinder and geometry. In order to decrease the programming time, a process model for disc grinders has been developed. This article investigates this process model and pays attention to problems such as wavy or burned surfaces and the effect of a robot's repetition accuracy in the results obtained. Many aspects treated in this article are quite general, and can be applied in other types of grinding operations. 相似文献