A global approximation based adaptive radial basis function（RBF） neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles（SV）.A nominal model is built firstly wit...A global approximation based adaptive radial basis function（RBF） neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles（SV）.A nominal model is built firstly with the unknown disturbance.Next, the control scheme is established consisting of a computed torque controller（CTC） for the practical vehicle and an RBF neural network controller to estimate model error between the practical vehicle and the nominal model. The network weights are adapted by employing a Lyapunov-based design. Then it is shown by the Lyapunov theory that the trajectory tracking errors asymptotically converge to a small neighborhood of zero. The control performance of the proposed controller is illustrated by simulation.展开更多
The system of ZnPc-C60 ln speclal mixed organic solvents has been studled by UVVis, fluorescence and laser Raman spectra. The results prove the existence of a chargetransfer complex (CTC) by the lnteractlon between Zn...The system of ZnPc-C60 ln speclal mixed organic solvents has been studled by UVVis, fluorescence and laser Raman spectra. The results prove the existence of a chargetransfer complex (CTC) by the lnteractlon between ZnPc and C60 The molar ratio of ZnPc/C60 in CTC is 2: 1. The formation equilibrium constant(K) was determined at 25 C. Mea-surements of photovoltaic effect show that ZnPc-C60 CTC leads to a rernarkable enhancementof photosensitivity comparing to that of ZnPc.展开更多
基金supported by the National Natural Science Foundation of China(5167920161473233)
文摘A global approximation based adaptive radial basis function（RBF） neural network control strategy is proposed for the trajectory tracking control of supercavitating vehicles（SV）.A nominal model is built firstly with the unknown disturbance.Next, the control scheme is established consisting of a computed torque controller（CTC） for the practical vehicle and an RBF neural network controller to estimate model error between the practical vehicle and the nominal model. The network weights are adapted by employing a Lyapunov-based design. Then it is shown by the Lyapunov theory that the trajectory tracking errors asymptotically converge to a small neighborhood of zero. The control performance of the proposed controller is illustrated by simulation.
文摘The system of ZnPc-C60 ln speclal mixed organic solvents has been studled by UVVis, fluorescence and laser Raman spectra. The results prove the existence of a chargetransfer complex (CTC) by the lnteractlon between ZnPc and C60 The molar ratio of ZnPc/C60 in CTC is 2: 1. The formation equilibrium constant(K) was determined at 25 C. Mea-surements of photovoltaic effect show that ZnPc-C60 CTC leads to a rernarkable enhancementof photosensitivity comparing to that of ZnPc.
