Stabilization and tracking in the nonholonomic integrator via sliding modes

In this paper we use an approach based on sliding mode control to design a feedback which stabilizes the origin for the so-called nonholonomic integrator or Heisenberg system, a particular case of a canonical class of nonlinear driftless control systems of the form

which fail Brockett's necessary condition for the existence of a smooth stabilizing feedback.     

飞机故障预测与健康管理应用模式研究

针对现有飞机维修机制的不足进行了分析,描述了故障预测与健康管理、视情维修和自主后勤的三者之间的关系。提出了三种典型的故障预测与健康管理(PHM)应用模式,在分析比较现有三种模式优劣的基础上,进一步指出PHM的发展趋势。设计了一种飞机故障预测与健康管理(PHM)系统框架,并运用物联网技术完成了对自主保障系统的构建,能够有效提升飞机的自主保障能力。最后论证了故障预测与健康管理和持续采办与全寿命支持(CALS)之间的关系,为装备采购和全寿命支持提供了技术支持和理论依据。     

动漫衍生品数字展厅的设计与实现

该文阐述了构建动漫衍生品数字展厅的基础理论与研究思路,并在设计实践的基础上提出将视觉要素与数字技术相结合的设计流程与实现方法,开发出一个动漫衍生品的多功能网络展示平台,以此作为虚拟现实技术在动漫领域应用的初步尝试,并提出其潜在应用对象与发展前景。     

电梯交通模式的模糊神经网络识别

交通模式识别的准确性将直接影响群控系统的整体性能,通过对各种电梯交通模式识别方法优、缺点的分析比较,考虑电梯交通模式的判断条件,结合神经网络和模糊推理,设计了一种基于模糊神经网络的电梯交通模式识别方法,该方法能够适应各种交通流模式的变化,并采用相应的电梯群控调度策略。     

Black‐box position and attitude tracking for underwater vehicles by second‐order sliding‐mode technique

In this work we address the tracking control problems for autonomous underwater vehicles (AUVs). The proposed solution is based on the variable structure systems (VSS) theory and, in particular, on the second‐order sliding‐mode (2‐SM) methodology. The tuning of the controller is carried out via black‐box approach, dispensing with the knowledge of the actual AUV parameters, by simply progressively increasing a single gain parameter. The presented stability analysis includes explicitly the unmodelled actuator dynamics and the presence of external uncertain disturbances. The good performance of the proposed scheme is verified by means of simulations on a 6‐DOF AUV. Copyright © 2009 John Wiley & Sons, Ltd.     

On the second-order sliding mode control of nonlinear systems with uncertain control direction

This note deals with the implementation of a second-order sliding mode control algorithm for a class of nonlinear systems in which the sign of the high-frequency gain, though constant, is unknown. A specific second-order sliding mode control algorithm, the “Suboptimal” algorithm, is properly modified in order to face the uncertainty in the control direction. It is shown that after a finite time the uncertain sign is identified and the standard finite time convergence takes place from that time on. Simulation results are provided.     

On The Modeling of Twin Rotor MIMO System Using Chirp Inputs as Test Signals

This paper addresses the modeling problem for the twin rotor multi input multi output system. To develop experimental data, this popular commercial laboratory model of a helicopter from Feedback Instruments Ltd is excited with band limited chirp inputs. The conclusions drawn in this paper lead to four significant achievements: 1) derivation of a linear nominal model for Twin Rotor MIMO System, TRMS in short, from its equivalent nonlinear mathematical representation; 2) dynamic modeling of TRMS; 3) determination of non‐minimum phase dynamics; and 4) determination of linear operating region. The work considers systematic study of the system dynamics of TRMS and analytical treatment of its identified data leading to derivation of the RHP zero dynamics followed by pictorial illustrations indicating resonant modes associated with the plant. The method used in the present paper can be essentially used in modeling of 2 × 2 plants exhibiting non‐minimum phase dynamics and model uncertainties.     

声表面波器件的反射特性及性能

为了准确分析反射型声表面波器件参数对其性能的影响,基于耦合模理论和P矩阵方法建立了器件的耦合模模型,分析得到器件的电反射特性即反射系数S11曲线,并在128°Y-X LiNbO3压电基片试制了频率为90 MHz的多种参数的器件,分析与测试结果表明:单个叉指换能器器件的S11中心频率为91.26 MHz,幅值为-20.58 dB,与理论分析结果91.44 MHz和-19.21 dB相近;带有反射栅的器件比单个叉指换能器件在中心频率处S11幅值增大约8.5 dB,谐振峰增多,时域曲线有明显的反射峰信号,验证了反射栅的反射特性;叉指换能器叉指对数减小使器件中心频率处的S11幅值减小,时域中的回波信号更尖锐,信噪比明显增大,表明对数较多的IDT具有较强的反射特性,对回波信号干扰较大,过小的叉指对数对器件声电转换效率影响很大,会使器件性能下降;较大的反射栅指条数对回波信号影响不大,但过小的指条数会降低反射栅反射系数,使得回波信号信噪比减小,纹波增多.