Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

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.     

MWCNTs/hydroxypropyl cellulose/polyethylene glycol-based shape-stabilized phase change materials

Journal of Thermal Analysis and Calorimetry - Polyethylene glycol (PEG) is widely used as phase change materials (PCMs). However, the leakage and low thermal conductivity issues restrict its...     

Adaptive finite-time prescribed performance control for stochastic nonlinear systems with unknown virtual control coefficients

Nonlinear Dynamics - This paper is devoted to the adaptive finite-time prescribed performance control (FTPPC) for stochastic nonlinear systems with unknown virtual control coefficients (UVCCs),...     

Hybrid control strategy of delayed neural networks and its application to sampled-data systems: an impulsive-based bilateral looped-functional approach

Nonlinear Dynamics - In this work, the problem of hybrid control strategy for delayed neural networks is investigated via an impulsive-based bilateral looped-functional (IBBLF) approach. Firstly, a...     

Effect of thickness variations of lithium niobate on insulator waveguide on the frequency spectrum of spontaneous parametric down-conversion

We study the effect of waveguide thickness variations on the frequency spectrum of spontaneous parametric down-conversion in the periodically-poled lithium niobate on insulator (LNOI) waveguide. We analyze several variation models and our simulation results show that thickness variations in several nanometers can induce distinct effects on the central peak of the spectrum, such as narrowing, broadening, and splitting. We also prove that the effects of positive and negative variations can be canceled and thus lead to a variation-robust feature and an ultra-broad bandwidth. Our study may promote the development of on-chip photon sources in the LNOI platform, as well as opens up a way to engineer photon frequency state.     

基于模糊综合评判的大学数学考核方式改革

独立高校数学课程的开设旨在让学生掌握数学知识的基础上,提高数学应用能力.然而现行的考核方式存在重考试结果,轻学习过程等问题.从传统考核方式入手,指出其不足之处,基于模糊综合评判法建立新型评价体系和数学模型,通过试点运行验证了新的考核方式的可行性、客观性、合理性和科学性.     

Identity-Based Quantum Designated Verifier Signature

International Journal of Theoretical Physics - Designated verifier signatures are very useful in the applications such as e-voting and auction. In this paper, an identity-based quantum designated...