Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms

Nonlinear Dynamics - This paper investigates the generation of some novel bursting patterns in active control oscillator with multiple time delays. We present the bursting patterns, including...     

Design,synthesis, and bioactivity of nortopsentin analogues containing 1,2,4-triazole moieties

Plant diseases are serious and difficult to control. Novel and efficient pesticides are urgently needed. A series of nortopsentin analogues were designed, synthesized, and evaluated for their antiviral activities and fungicidal activities. Compound 3g with higher antiviral activity than nortopsentin D and ribavirin emerged as new antiviral lead compound. Further fungicidal activity tests revealed that nortopsentin analogues displayed broad-spectrum fungicidal activities. Compounds 3a , 3d , and 3f displayed higher antifungal activities against Cercospora arachidicola Hori than commercial fungicides carbendazim and chlorothalonil. Current research has laid a foundation for the application of nortopsentin analogues in plant protection.     

Global stabilization of 2-DOF underactuated mechanical systems—an equivalent-input-disturbance approach

This paper presents a new method of globally stabilizing a non-linear underactuated mechanical system with two degrees of freedom (DOF). It is based on the idea of equivalent input disturbance (EID), and designing the controller requires only the state variables of position, not velocity. The design procedure has two steps: (1) Use a global homeomorphic coordinate transformation to convert the original system into a new non-linear system. This changes the problem of stabilizing the original system into one of stabilizing the new system. (2) Divide the new system into linear and non-linear parts and take the non-linear part to be an artificial disturbance, thereby enabling use of the EID approach to globally asymptotically stabilize the new system at the origin. The new method was tested through numerical simulations on three well-known 2-DOF underactuated mechanical systems (TORA, beam ball, inertia wheel pendulum). The results demonstrate its validity and its superiority over others.