Sliding‐Mode Velocity Control of a Two‐Wheeled Self‐Balancing Vehicle

Underactuated vehicles are those in which the number of control inputs is less than the degrees of freedom to be controlled. Using actuated wheels, velocity control of the two‐wheeled self‐balancing vehicle drives the vehicle at a desired speed and balances the body of the vehicle. First, we investigate the effects of friction on the wheel and derive the hybrid model of rolling and slipping. Second, we propose a nonlinear sliding mode velocity control scheme for the pure rolling model of the two‐wheeled vehicle. We present the design of the corresponding sliding surfaces and internal dynamics of the two‐wheeled vehicle. Our stability analysis reveals that the proposed sliding mode method can guarantee the asymptotic stability of the error dynamics for velocity control of the underactuated vehicle. Compared to linear optimal control, our numerical simulations demonstrate that the proposed sliding mode schemes can effectively control the velocity under the circumstances of parametric variations, emergency braking, and rapid acceleration in slippery road conditions. The proposed velocity control and the simulation improve our understanding on designing velocity control of the two‐wheeled self‐balancing vehicle.     

Integrated Game Based Guidance with Nonlinear Autopilot Design for Maneuvering Target Interception

The integrated game theory based guidance law with nonlinear autopilot (GGNA) system is presented in this paper. The guidance law is designed based on linear differential game theory while considering the motion of the target in 3‐D space such that the distance between the missile and the target is minimized faster than before. The autopilot system based on quaternion representation is developed using sliding mode control method to generate the attitude command. The stability of the integrated guidance and nonlinear autopilot system is analyzed with Lyapunov stability theory. In addition, this research assumes wingless missiles in our context in order to reduce the nonlinear effect from the aerodynamics. Furthermore, in order to extend the operation range of missiles from endo‐atmosphere to exo‐atmosphere, the missiles are equipped with Thrust Vector Control (TVC) mechanisms and Divert Control System (DCS). Finally, extensive simulations incorporating aerodynamic models are demonstrated to verify the validity of the proposed integrated guidance/autopilot systems. Moreover, the simulation results reveal that the mission of intercepting a maneuvering target is successfully accomplished.     

Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique

Trajectory tracking and roll stabilization are both vital practices in ship motion control. Trajectory tracking is a kind of low‐frequency control, while roll stabilization by means of fins is a kind of high‐frequency control. However, they have been studied separately previously; most tracking control of underactuated surface vessels in the previous studies do not account for roll stabilization by means of fins. In reality, however, they are an integral system. In this paper, a simple control strategy is proposed to achieve trajectory tracking and fin roll stabilization simultaneously. Four degrees of freedom derived from a six degrees of freedom mathematical model of a surface vessel is considered, including surge, sway, roll and yaw. Surge force, roll moment and yaw moment are considered as control inputs, while position, yaw angle and roll angle are controlled. The number of control inputs is fewer than the outputs to be controlled. Therefore, we are dealing with an underactuated problem. An adaptive hierarchical sliding mode control technique is employed to deal with the underactuation. Stabilization of underactuated surface vessels is studied as a special case. Random waves are applied to test the robustness of the designed controllers. Lyapunov stability theory is used to show the stability of closed‐loop system. The simulation results verify the effectiveness of the proposed strategy.     

A New Derivation of the Cubature Kalman Filters

This paper investigates the cubature Kalman filtering (CKF) for nonlinear dynamic systems. This third‐degree rule based filter employs a spherical‐radial cubature rule to numerically compute the integrals encountered in nonlinear filtering problems, thereby removing the requirements of explicitly computing the Jacobians. The cubature rule, however, requires computing the intractable integrals over a high‐dimensional spherical region for multidimensional applications. Moreover, the cubature formula that has been used to construct the spherical cubature formula has some demerits, most notably its inconvenient properties in computation and low estimation accuracy. Aimed at these issues, a general class of CKFs that uses only cubature rules is derived in this paper. It can be shown that the conventional CKF is a special case of the proposed algorithm. The paper also includes higher‐degree CKFs, especially two representative types of the fifth‐degree CKFs. Performance of the proposed algorithms is demonstrated via two target tracking problems. The experimental results, presented herein, illustrate the superior performance of higher‐degree CKFs to conventional nonlinear filters.     

An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

广角摄像机在机器人视觉定位中的应用

为了保证广角摄像机在现代机器人视觉定位应用中的准确性,以广角摄像机像素坐标的反畸变过程为研究对象,提出一种在畸变对应表的基础上使用中心迭代法以及区域插值法确定物体实际位置的方法。通过实验证明了该方法能够测量物体的位置,其精度能够满足工业使用要求。     

Damping of vinyl acetate–n‐butyl acrylate copolymers

A photopolymerization process at room temperature was devised to copolymerize vinyl acetate (VAc) and n‐butyl acrylate (BA) mainly to prepare rubber‐like damping sheet bearing pressure‐sensitive adhesive property in this study. The investigations using both the differential scanning calorimeter and rheometric dynamic analysis show the existence of two glass transition temperatures for each copolymer. The scanning electron microscopic pictures reveal that the degree of microphase separation increases with increasing annealing time at 70°C. It was suggested that the rubbery domain (formed by the PBA blocks) disperses in the glassy domain (constituted by the PVAc blocks), making an effective damping entity. Excellent damping was observed for the copolymer samples, with the tanδ peak values as high as 1.76–1.80 at a certain temperature range and with tanδ> 0.3 at quite wide temperature ranges. In addition, the copolymers containing more VAc tend to have the higher damping. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 91: 1396–1403, 2004     

Evaluation of Polyester Resin as a New Compatibilizer for SBR/PVC Blends

A polyester (PE) based on the glycolyzed products of PET was prepared and added in different concentrations to a series of SBR/PVC blends. The addition of the polyester showed that all properties of SBR/PVC blends were improved by incorporation of PE. Highest mechanical strength values were obtained at a polyester concentration of 7.5 phr. Thermal analysis as well as dynamic mechanical properties of SBR/PVC blends after the addition of 7.5 and 10 phr polyester indicated one single glass transition temperature. The dielectric losses (?") were analyzed in the frequency domains in the two terms of Fröhlich related to the Maxwell Wagner effect and the orientation of the aggregates caused by the movement of the main chain. The permittivity (?') values were found to increase by increasing the polyester content. This increase was followed by a decrease in the ?" up to a 7.5 phr polyester content after which no pronounced change was noticed.     

Small‐angle X‐ray scattering study of modified porous suspension–poly(vinyl chloride) particles

Small‐angle X‐ray scattering (SAXS) was applied to investigate the microstructure of unmodified and modified porous commercial suspension‐type poly(vinyl chloride) (PVC) particles. The modified PVC particles were prepared by an in situ stabilizer‐free polymerization/crosslinking of particles absorbed with a monomer/crosslinker/peroxide solution. The modifying polymers include styrene with or without divinyl benzene (DVB) as a crosslinker and methyl methacrylate (MMA) with or without ethylene glycol dimethacrylate (EGDMA) as a crosslinker. The SAXS method was used to highlight the effect of polystyrene (PS) on the microstructure of PVC particles and to evaluate the characteristic lengths, both in the PVC/PS and the PVC/XPS (PS crosslinked with 0 and 5% DVB, respectively) systems. A model is suggested, where during the synthesis modification process, swelling of PVC by styrene and styrene polymerization occur simultaneously. PVC swelling by styrene causes destruction of the PVC subprimary particles, whereas styrene polymerization leads to phase separation resulting from incompatibility of the polymers. It was further suggested that because of PVC swelling by styrene, structure of the subprimary particles is lost. Therefore the characteristic lengths of PVC/PS and PVC/XPS, as calculated from the SAXS measurements, were attributed to the size of the phase‐separated PS and XPS inclusions, respectively. The SAXS method also shows that PMMA and XPMMA do not influence the PVC microstructure. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 95: 1024–1031, 2005     

Using silica nanoparticles as curing reagents for epoxy resins to form epoxy–silica nanocomposites

Nanoscale colloidal silica showed high reactivity toward curing epoxy resins to form epoxy–silica nanocomposites under mild conditions. Adding a certain amount (5000 ppm) of magnesium chloride lowered the activation energy of the reaction from 71 to 46 kJ/mol. Less and more magnesium chloride both exhibited counter action on lowering the activation energy of the curing reaction. Tin chloride dihydrate and zinc acetylacetonate hydrate were also added into the curing compositions, however, showing no significant effect on promoting the curing reaction. Through this curing reaction, epoxy–silica nanocomposites containing high silica contents up to 70 wt % were obtained. Therefore, this reaction provided a novel and convenient route in preparation of epoxy–silica nanocomposites. © 2005 Wiley Periodicals, Inc. J Appl Polym Sci 95: 1237–1245, 2005