Finite-time adaptive fuzzy control for a class of output constrained nonlinear systems with dead-zone

The article investigates the finite-time adaptive fuzzy control for a class of nonlinear systems with output constraint and input dead-zone. First, by skillfully combining the barrier Lyapunov function, backstepping design method, and finite-time control theory, a novel adaptive state-feedback tracking controller is constructed, and the output constraint of the nonlinear system is not violated. Second, the fuzzy logic system is used to approximate unknown function in the nonlinear system. Third, the finite-time command filter is introduced to avoid the problem of “complexity explosion” caused by repeated differentiations of the virtual control signal in conventional backstepping control schemes. Meanwhile, a new saturation function is added in the compensating signal for filter error to improve control accuracy. Finally, based on Lyapunov stability analysis, all the signals of the closed-loop are proved to be semi-globally uniformly ultimately bounded, and the tracking error converges to a small neighborhood region of the origin in a finite time. A simulation example is presented to demonstrate the effectiveness for the proposed control scheme.     

Identification and U-control of a state-space system with time-delay

This article presents a state-space model with time-delay to map the relationship between known input-output data for discrete systems. For the given input-output data, a model identification algorithm combining parameter estimation and state estimation is proposed in line with the causality constraints. Consequently, this article proposes a least squares parameter estimation algorithm, and analyzes its convergence for the studied systems to prove that the parameter estimation errors converge to zero under the persistent excitation conditions. In control system design, the U-model based control is introduced to provide a unilateral platform to improve the design efficiency and generality. A simulation portfolio from modeling to control is provided with computational experiments to validate the derived results.     

Achieving superior hydrogen storage properties via in-situ formed nanostructures: A high-capacity Mg–Ni alloy with La microalloying

Mg-based hydride is a promising hydrogen storage material, but its capacity is hindered by the kinetic properties. In this study, Mg–Mg₂Ni–LaH_x nanocomposite is formed from the H-induced decomposition of Mg₉₈Ni_1·67La_0.33 alloy. The hydrogen capacity of 7.19 wt % is reached at 325 °C under 3 MPa H₂, attributed to the ultrahigh hydrogenation capacity in Stage I. The hydrogen capacity of 5.59 wt % is achieved at 175 °C under 1 MPa H₂. The apparent activation energies for hydrogen absorption and desorption are calculated as 57.99 and 107.26 kJ/mol, which are owing to the modified microstructure with LaH_x and Mg₂Ni nanophases embedding in eutectic, and tubular nanostructure adjacent to eutectic. The LaH_2.49 nanophase can catalyze H₂ molecules to dissociate and H atoms to permeate due to its stronger affinity with H atoms. The interfaces of these nanophases provide preferential nucleation sites and alleviate the “blocking effect” together with tubular nanostructure by providing H atoms diffusion paths after the impingement of MgH₂ colonies. Therefore, the superior hydrogenation properties are achieved because of the rapid absorption process of Stage I. The efficient synthesis of nano-catalysts and corresponding mechanisms for improving hydrogen storage properties have important reference to related researches.     

基于误差估值累加开环校正的诱导式欺骗检测方法

诱导式卫星欺骗干扰可诱导航空器逐渐偏离预定航迹，难以被发现，因此及时有效地检测干扰是飞行安全的保障。在现有紧组合导航体制基础上，设计了一种基于误差估值累加开环校正的紧组合导航结构，并证明了其性能与传统闭环校正紧组合导航性能等效。在此结构中，将紧组合导航系统与自适应序贯概率比检测方法结合，提出了一种基于误差估值累加开环校正的诱导式欺骗检测方法，融合紧组合导航信息与其他不受欺骗影响的导航信息，构建欺骗检测统计量进行诱导式欺骗检测。仿真结果表明，开环校正结构可避免随时间累加的惯性导航系统误差所导致的组合导航滤波器发散问题，同时欺骗检测方法可进一步提高算法对“最坏”情形下微小诱导式欺骗的检测效果。     

基于VMD和BSA-KELM的高陡边坡位移预测模型研究

边坡位移的时间序列曲线存在复杂的非线性特性,传统的预测模型精度不足以满足预测要求。为此提出了基于变分模态分解的鸟群优化-核极限学习机的预测模型,并用于河北省某水泥厂的边坡位移预测。该方法首先采用VMD把边坡位移序列分解为一系列的有限带宽的子序列,再对各子序列分别采用相空间重构并用核极限学习机预测,采用鸟群算法优化相空间重构的嵌入维度和KELM中惩罚系数和核参数三个数值,以取得最优预测模型。最后将各个子序列预测值叠加,得到边坡位移的最终预测值。结果表明：和KELM、BSA-KELM、EEMD-BSA-KELM模型相比,基于VMD的BSA-KELM预测精度更高,为边坡位移的预测提供一种有效的方法。     

Catalytic behavior in CH4 decomposition of catalysts derived from red mud: Impact of residual Na2O

Catalyst samples for CH₄ decomposition were prepared from red mud (RM) by an acid-leaching neutralization precipitation approach. Water-washing the resultant precipitates multiple times, followed by drying at 105 °C and calcination at 500 °C, resulted in a threshold of residual Na₂O, equivalent to 96% Na₂O removal. Drying the precipitate at a higher temperature of 200 °C, followed by repeated water washing, provided a deeper Na₂O removal of 99% and made the resultant samples more active for the targeted reaction. Subsequently, four catalyst samples with a simulated red mud composition and NaOH contents from 0 to 0.3 wt% were prepared and the catalytic test results revealed that the Na₂O remaining in the RM-derived catalysts did not only inhibit their activation in CH₄ but also lower their maximal activities for CH₄ decomposition. Finally, two catalysts with the same simulated red mud composition and their Na impregnated respectively on Fe₂O₃ and a mixture support of Al₂O₃-SiO₂-TiO₂ were prepared and tested to explore the effect of Na distribution on the activation behavior of RM-derived catalysts for CH₄ decomposition. The activity testing results showed that it was the Na residual dispersed on iron oxides in the RM-derived samples to significantly inhibit the activation of CH₄ decomposition.     

Preparation of high-activity coal char-based catalysts from high metals containing coal gangue and lignite for catalytic decomposition of biomass tar

The potential of using high metals containing coal gangue and lignite to prepare high-activity coal char-based catalysts is investigated for effective biomass tar decomposition. Loose structure and rough surface are formed for these char-based catalysts with heterogeneous distribution of a large number of inorganic particles. In the biomass tar decomposition, the performance of the coal char-based catalysts is significantly influenced by the content of the metals in the raw materials and coal gangue char (GC) with the ash content as high as 50.80% exhibits the highest activity in this work. A high biomass tar conversion efficiency of 93.5% is achieved at 800 °C along with a significant increase in the fuel gas product. During the five-time consecutive tests, the catalytic performance of GC increases a little at the second or third times reuse and remains relatively stable, showing the remarkable stability of the catalyst in biomass tar decomposition applications.     

基于改进SOA-VMD的磁声发射信号去噪算法

磁声发射（MAE）是铁磁性材料磁化过程中产生的声发射信号，在构件应力检测和微观损伤检测中有着广泛的应用。针对MAE信号非稳态、复杂性、衰减性等特点，提出海鸥算法结合变分模态分解（SOA-VMD）的去噪方法，为克服海鸥算法求解过程中易陷入局部最优解问题，利用柯西变异算子产生随机迭代过程，使改进算法即柯西变异海欧算法（CVSOA）跳出早熟收敛。采用以幅值谱熵为适应度函数，优化VMD算法中分解模态个数K和二次惩戒因子α两个参数，将含噪声的MAE信号进行VMD分解重构。经仿真信号和实际检测信号分析表明，改进后的CVSOA-VMD算法全局寻优能力和去噪性能优于传统的SOA-VMD算法，降噪后的MAE信号特征值对于不同应力下均方根、偏斜度特征值的重复性更好，可靠性更高。     

Hydrogen production via ammonia decomposition catalyzed by Ni/M–Mo–N (M = Ni,Co) bimetallic nitrides

This study demonstrates the significant improvement in NH₃ decomposition using Ni-decorated M–Mo–N-based catalysts (M = Co and Ni) compared with conventional catalysts. Catalysts are prepared using a mixture of the corresponding metal salts and hexamethylenetetramine, and the impregnation method is used to decorate the Ni-particles on the catalysts. Among all the samples, 10 wt% Ni-decorated Co₃Mo₃N exhibits the highest NH₃ conversion rate (71%) at 500 °C, and the performance remains stable for 30 h of long-term testing. According to the gas chromatography measurements, the H₂/N₂ ratio is approximately 3 in all cases, which is consistent with the theoretical value. X-ray photoelectron spectroscopy results show that Co₃Mo₃N possesses the highest NH₃ conversion efficiency because of the weaker binding energy of Mo–N. Furthermore, Co₃Mo₃N exhibits a stronger Lewis acidity and higher NH₃ decomposition, which is attributed to the easy breaking of the N–H bond on the Co₃Mo₃N surface.     

轻量级电驱水下机械臂设计与运动学分析

设计了一款四功能水下机械臂，并对驱动关节进行了模块化设计和密封测试。为了保证水下机械臂的可靠性，在水下机械臂水下测试前，进行了强度校核和模态分析。为了验证水下机械臂的性能，通过 Ｄ- Ｈ法建立了其运动学模型，在此基础上分别进行了正、逆运动学分析。此外还采用蒙特卡洛法，在正运动学分析的基础上研究了工作空间特点。研究结果将为进一步的运动控制提供有益的帮助。