In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance. 相似文献
A wake-up receiver with high energy efficiency and low power consumption is proposed for solving the power consuming problems of wireless nodes communication in the Internet of Things. The proposed wake-up receiver based on the wake-up mechanism can effectively schedule the network nodes communication, and use the simple envelope detection structure to achieve frequency down-conversion, which can flexibly manage energy and reduce power consumption. Based on UMC 65nm CMOS process technology, the wake-up receiver is designed and simulated. The results show that it can achieve S11 of -21dBm and a sensitivity of -75dBm at a data rate of 1Mb/s, when operating at the central frequency of 780MHz and input signal adopting an on-off keying (OOK) modulation, and the power consumption is 82μW at 1.2V voltage supply. 相似文献
The transient characteristics can be significantly affected by the interface trap. In order to reveal the intrinsic mechanism and provide some references for the design of detectors, the interface trap effect on the transient characteristics of a back-illuminated photovoltaic InSb infrared detector is studied with two-dimensional simulations. The relationships between interface traps and some key physical parameters, such as the hole concentration, the recombination rate and the electric field, are analyzed to reveal the intrinsic mechanisms of the influence of the interface traps on the transient characteristics. Studies show that with the increase of the interface trap density, the recombination rate and the electric field near the interface increase, the hole concentration decreases, and the “black holes” in current density distribution appear and move forward to the pn junction. And the transient photoresponse decreases with the increase of the interface trap density. 相似文献
With an advanced foreign hydraulic automatic transmission as the objective, an analytical method for the gear-shifting schedule is proposed. First the demanded maximum gradient of test is estimated. Then a test scheme and analytical procedure is formulated by initial test and hypothetical shift parameters. Finally through gear-shifting tests under different road conditions, load, accelerator pedal position limitation, throttle opening and output shaft speed are found to be the gear-shifting parameters. Under a common road condition, the gear-shifting schedule is a double-parameter schedule. Based on the driver''s demands on braking and dynamic performance, different shift schedules are made under downhill, uphill and quick releasing acceleration pedal conditions. The operation criteria of down-shift schedule on abrupt grade are proposed. 相似文献