Leader-following formation control for second-order multiagent systems with time-varying delay and nonlinear dynamics

In this paper, the leader-following formation control problem for second-order multiagent systems with time-varying delay and nonlinear dynamics is considered. Two different cases of coupling topologies, fixed topology and switching topology, are analyzed. Based on the Lyapunov theory combined with the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are given to ensure the multiagent systems can reach and maintain the desired formation. The simulation results are provided to demonstrate the effectiveness of the obtained theory results.     

基于表界面反应及优化的锂金属电池研究进展

金属锂具有高理论比容量和低还原电位, 是锂电池阳极的理想材料之一. 但在长期循环充放电过程中, 金属锂因锂枝晶生长会导致出现界面恶化及能量损失严重等问题, 对锂金属电极与电解质表界面反应的优化是一个重要研究方向. 本文介绍了锂枝晶产生的危害, 从分析及抑制锂枝晶沉积两方面综合评述了为解决这一问题所采取的方法, 包括固态电解质界面形成机制和保护机理、 表面改性、 三维锂阳极和液态/固态电解质等方法, 总结了各种方法的优劣势, 并展望锂金属电池在能源领域的研究前景.     

A Feruloyl Esterase (FAE) Characterized by Relatively High Thermostability from the Edible Mushroom Russula virescens

A monomeric feruloyl esterase (FAE) with a molecular mass of 62 kDa was acquired from fresh fruiting bodies of the edible mushroom Russula virescens. The isolation procedure involved ion exchange chromatography on CM-cellulose, Q-Sepharose, and SP-Sepharose and finally fast protein liquid chromatography–gel filtration on Superdex 75. Two amino acid sequences were obtained after tryptic digestion, and they both showed some homology with the esterase of some fungi. Maximal activity was observed at pH 5.0 and at 50 °C. The enzyme displayed relatively high thermostability as evidenced by over 70 % residual activity at 70 °C and about 34 % residual activity at 80 °C. The K _m and V _max for this enzyme on methyl ferulate were 0.19 mM and 1.65 U/mg proteins, respectively. The purified FAE prefers methyl ferulate over methyl caffeate and is least active on methyl p-coumarate. The FAE activity was not significantly affected by the presence of cations such as Mn²⁺, Ca²⁺, Cd²⁺, Zn²⁺, Mg²⁺, Cu²⁺, and K⁺ ions but inhibited by Al³⁺, Hg²⁺, Fe²⁺, and Pb²⁺ ions at a tested concentration of 2. 5 mM.     

纳通道的物质传输特性及应用

近年来,随着材料科学、微纳加工技术和微纳尺度物质传输理论的发展,纳通道技术得到了越来越多的研究和关注。纳通道包括生物纳通道和人工纳通道,其孔径通常为1~100 nm。在这一尺度下,通道表面与通道内物质之间的作用概率大大增强,使得纳通道表现出许多与宏观体系不同的物质传输特性,例如通道表面电荷与通道内离子之间的静电作用产生了离子选择性,通道内电化学势的不对称分布产生了离子整流特性,物质传输过程中占据通道产生了阻塞脉冲特性等。纳通道中的这些物质传输特性在传感、分离、能源等领域具有广泛应用,例如通过对纳通道进行功能化修饰可以实现门控离子传输;利用亚纳米尺度的通道可以实现单分子传感;利用通道与传输物质之间的相互作用可以实现离子、分子、纳米粒子的分离;利用纳通道的离子选择性可以在通道内实现电荷分离,将不同形式的能量（如光、热、压力、盐差等）高效转化为电能。纳通道技术是化学、材料科学、纳米技术等多学科的交叉集合,在解决生物、环境、能源等基本问题方面具有良好的前景。该文综述了近10年来与纳通道物质传输理论以及纳通道技术应用相关的前沿研究,梳理了纳通道技术的发展过程,并对其在各个领域的应用进行了总结与展望。     

Pure single line oscillation of HF lasers in fine atmospheric window

Applied Physics B - A correction to this paper has been published: https://doi.org/10.1007/s00340-021-07611-y     

ANALYSIS OF FRICTION INDUCED VIBRATION UNDER THE ACTIVE DISTURBANCE REJECTION CONTROL FRAMEWORK 1)

自抗扰控制(active disturbance rejection control, ADRC)是一种具有两自由度控制结构的工程化方法, 由于其能够直观有效地处理多种扰动, 近些年来在许多机电系统上得到了成功应用. 当采用ADRC对带有摩擦力的机电系统进行调节时, 可能会产生极限环振动. 目前, 还没有ADRC框架下摩擦力振动精确分析的相关工作. 因此, 本文采用非线性动力学系统的分析工具对这一问题进行研究. 首先, 考虑两种典型摩擦力模型, 静态切换模型和动态LuGre 模型, 对一类二阶运动系统设计不同阶次的ADRC, 得到控制器的等效形式, 并揭示出与比例积分微分(proportional-integral-derivative, PID)控制之间的联系. 然后, 采用打靶法结合拟弧长延拓方法求解系统中的极限环, 并根据Floquet理论判断极限环的稳定性、可能出现的分岔以及分岔类型. 此外, 通过雅克比矩阵和近似数值方法对系统平衡点集的局部稳定性进行了分析. 最后, 通过数值计算研究了摩擦力模型和参数、ADRC阶次和参数对极限环和平衡点集的影响. 计算结果表明, 决定摩擦力Stribeck效应负斜率的参数$\beta$作用较大. 当$\beta>1$时, 两种摩擦力模型下的闭环系统呈现出相同的特性, 极限环会出现环面折叠分岔(cyclic fold bifurcation, CFB)且平衡点集是局部稳定的. 然而当$\beta<1$时, 两种闭环系统呈现出完全不同的特性. 此外, 不同阶次的ADRC在极限环的存在性和稳定性、平衡点集的稳定性上面的结论是相同的, 而低阶次的ADRC能够更好地解决摩擦力补偿和稳定鲁棒性之间的矛盾问题. 这些结论对实际现象的理解、ADRC阶次的选择以及参数整定提供了一定指导.     

Output regulation distributed formation control for nonlinear multi-agent systems

In this paper, the distributed formation control problem for multi-agent systems with affine nonlinear dynamic is considered. In order to solve the problem, we generalize the output regulation problem of nonlinear systems to multi-agent systems and design a distributed control scheme. Based on the internal model principle, the distributed output regulation formation control problem can be solved by solving the regulator equations. Moreover, the simulation example is provided to demonstrate the effectiveness of the main results.     

Analysis of the hyper-chaos generated from Chen’s system

This letter does some further researches on a newly proposed hyper-chaos found in [Gao TG, Chen ZQ, Chen G. A hyper-chaos Generated from Chen’s system, Int J Mod Phys C 2006;17(4):471–8], and gets some new results with some parameters of the system are definite and the other one varies. The basic dynamical behavior of the system under various conditions is analyzed, and the new findings is not only demonstrated by computer simulations but also verified with bifurcation analysis.