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1.
An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme. 相似文献
2.
Dr. Peng Zhang Qian-Cheng Luo Dr. Zhenhua Zhu Wanrong He Nan Song Junting Lv Xuning Wang Prof. Quan-Guo Zhai Prof. Yan-Zhen Zheng Prof. Jinkui Tang 《Angewandte Chemie (International ed. in English)》2023,62(12):e202218540
The syntheses and magnetic properties of organometallic heterometallic compounds [K(THF)6]{CoI[(μ3-HAN)RE2Cp*4]2} ( 1-RE ) and [K(Crypt)]2{CoI[(μ3-HAN)RE2Cp*4]2} ( 2-RE ) containing hexaazatrinaphthylene radicals (HAN⋅3−) and four rare earth (RE) ions are reported. 1-RE shows isolable species with ligand-based mixed valency as revealed by cyclic voltammetry (CV) thus leading to the isolation of 2-RE via one-electron chemical reduction. Strong electronic communication in mixed-valency supports stronger overall ferromagnetic behaviors in 2-RE than 1-RE containing Gd and Dy ions. Ac magnetic susceptibility data reveal 1-Dy and 2-Dy both exhibit slow magnetic relaxation. Importantly, larger coercive field was observed in the hysteresis of 2-Dy at 2.0 K, indicating the enhanced SMM behavior compared with 1-Dy . Ligand-based mixed-valency strategy has been used for the first time to improve the magnetic coupling in lanthanide (Ln) SMMs, thus opening up new ways to construct strongly coupled Ln-SMMs. 相似文献
3.
Anna G. Scott Diogo Alves Galico Isabel Bogacz Paul H. Oyala Junko Yano Elizaveta A. Suturina Muralee Murugesu Theodor Agapie 《Angewandte Chemie (International ed. in English)》2023,62(49):e202313880
Atomically defined large metal clusters have applications in new reaction development and preparation of materials with tailored properties. Expanding the synthetic toolbox for reactive high nuclearity metal complexes, we report a new class of Fe clusters, Tp*4W4Fe13S12 , displaying a Fe13 core with M−M bonds that has precedent only in main group and late metal chemistry. M13 clusters with closed shell electron configurations can show significant stability and have been classified as superatoms. In contrast, Tp*4W4Fe13S12 displays a large spin ground state of S=13. This compound performs small molecule activations involving the transfer of up to 12 electrons resulting in significant cluster rearrangements. 相似文献
4.
从矩阵几何解的角度出发,分析了七种类型的Geom/Geom/(Geom/Geom)/H 双输入排队系统.对这几个模型进行了描述,使用拟生灭过程探讨了各类模型的矩阵结构,并给出了其状态转移概率矩阵. 相似文献
5.
研究了一类小容量污染环境中脉冲输入毒素对具有阶段结构的单种群生存问题,分别找到了种群生存与灭绝的阈值,利用不等式放缩技巧,得到了种群灭绝和持久生存的充分条件.利用MATLAB数值仿真,验证了理论结果的正确性,分析了毒素输入量,毒素输入周期及种群成长时间对种群生存的影响. 相似文献
6.
In this article the flows of perfect gas behind converging and diverging strong shock waves under isothermal condition in
the cases of spherical and cylindrical symmetry are examined. A diverging shock wave is formed by energy supply according
to a power law. These waves propagate in a uniform medium at rest and all conservation laws hold at the fronts of these shock
waves. It was established that in the case of converging waves for any value of the ratios of specific heats the solution of the problem under consideration exists and is unique. When the problem has more than one solution. In the case of diverging shock waves the solution exists and is unique for any from the interval and any value of power in the energy input law.
Received 4 August 1996 / Accepted 28 May 1996 相似文献
7.
通过引入LM优化算法,针对矩形薄板中对称结构的损伤识别问题,提
出了一种基于神经网络的分区域分步识别方法. 对于预测输出量比较多且对预测精度要求比
较高的问题,常会出现网络训练时收敛速度慢、网络预测精度低,并且当网络训练达到目标
误差时,输出的预测量中常有某个输出量的误差还很大的情况. 针对这些问题,利用选
取的组合输入参数,提出了基于神经网络的分区域识别方法. 通过对悬臂板结构的数值模拟
结果表明:提出的分区域识别方法对结构损伤的分区和预测是可行和有效的,
其预测精度要明显的高于只用单个网络的预测结果,并且预测子网络对损伤的位置和程度是
同步输出的,从而避免了传统分步识别理论中子网络过多的问题. 相似文献
8.
多功能SHPB装置及水泥石材料的动态性能研究 总被引:1,自引:0,他引:1
为了研究在一定温度和压力下的水泥石的动态力学性能,研制了多功能SHPB材料动态性能测试装置,该装置可分别进行材料的拉伸,压缩,扭转性能测试,拉,压试验可以在带围压和温度的三向应力状态下进行,文中还对水泥石改性材料的动态力学性能进行了实验研究。 相似文献
9.
10.
Switching adaptive controllers to control fractional‐order complex systems with unknown structure and input nonlinearities 下载免费PDF全文
This article investigates the chaos control problem for the fractional‐order chaotic systems containing unknown structure and input nonlinearities. Two types of nonlinearity in the control input are considered. In the first case, a general continuous nonlinearity input is supposed in the controller, and in the second case, the unknown dead‐zone input is included. In each case, a proper switching adaptive controller is introduced to stabilize the fractional‐order chaotic system in the presence of unknown parameters and uncertainties. The control methods are designed based on the boundedness property of the chaotic system's states, where, in the proposed methods the nonlinear/linear dynamic terms of the fractional‐order chaotic systems are assumed to be fully unknown. The analytical results of the mentioned techniques are proved by the stability analysis theorem of fractional‐order systems and the adaptive control method. In addition, as an application of the proposed methods, single input adaptive controllers are adopted for control of a class of three‐dimensional nonlinear fractional‐order chaotic systems. And finally, some numerical examples illustrate the correctness of the analytical results. © 2014 Wiley Periodicals, Inc. Complexity 21: 211–223, 2015 相似文献