直流600V输入多路输出高频开关电源设计

本文介绍了直流600V输入多路直流输出高频开关电源设计方案,主电路采用双管反激功率变换电路,控制电路采用电流型PWM控制技术。     

基于双幂次滑模的多机器人编队控制

本文研究了基于领航跟随法的多机器人系统编队控制问题.首先,基于队形约束,给出跟随者期望的轨迹,将编队问题转化为单个跟随者的轨迹跟踪问题.在此基础上,基于双幂次滑模趋近律,设计了跟随者的线速度和角速度控制器,保证了跟踪误差能够快速收敛到零,从而保证了编队队形的稳定.最后,通过仿真验证了所提方法的有效性.     

Distributed fault detection and isolation in time-varying formation tracking UAV multi-agent systems

The problem of distributed fault detection and isolation (DFDI) in conjunction with time-varying formation control of unmanned aerial vehicle (UAV) multi-agent systems with multiple-leader leader–follower structure is studied, in this paper. It is assumed that the communication data of the agents are noisy, and faults may occur in either leaders or followers. The followers are not aware of the main trajectory and just follow the leaders. The first step in this paper is to reduce the communication noise. Besides, if a fault occurs in one of the leaders causing to exit the leader from the main trajectory, the followers should be able to detect the fault, isolate the leader, use the other leaders' data, and keep the main trajectory. Tracking the trajectory by followers in such a case is the second step of this paper. Preserving the time-varying formation despite a fault occurring in one of the followers is the next step. To reach these goals, a distributed array of Kalman filters is used for noise cancellation and data extraction. Next, the combination of state vector data fusion and some type of $\chi$² test are employed for DFDI, in agents. Besides, a controller is implemented in each agent for formation tracking. In this controller, estimated relative position and velocity vectors of the agents are employed to keep the time varying formation while tracking the leaders. The closed-loop stability is studied via Lyapunov stability theorem, and various simulations are carried out to demonstrate the capability of the proposed strategy.