This paper analyzes the stability of milling with variable pitch cutter and tool runout cases characterized by multiple delays,and proposes a new variable-step numerical integration method for efficient and accurate s...This paper analyzes the stability of milling with variable pitch cutter and tool runout cases characterized by multiple delays,and proposes a new variable-step numerical integration method for efficient and accurate stability prediction. The variable-step technique is emphasized here to expand the numerical integration method,especially for the low radial immersion cases with multiple delays. First,the calculation accuracy of the numerical integration method is discussed and the variable-step algorithm is developed for milling stability prediction for single-delay and multiple-delay cases,respectively. The milling stability with variable pitch cutter is analyzed and the result is compared with those predicted with the frequency domain method and the improved full-discretization method. The influence of the runout effect on the stability boundary is investigated by the presented method. The numerical simulation shows that the cutter runout effect increases the stability boundary,and the increasing stability limit is verified by the milling chatter experimental results in the previous research. The numerical and experiment results verify the validity of the proposed method.展开更多
In this paper,we investigate an inertial two-neural coupling system with multiple delays.We analyze the number of equilibrium points and demonstrate the corresponding pitchfork bifurcation.Results show that the system...In this paper,we investigate an inertial two-neural coupling system with multiple delays.We analyze the number of equilibrium points and demonstrate the corresponding pitchfork bifurcation.Results show that the system has a unique equilibrium as well as three equilibria for different values of coupling weights.The local asymptotic stability of the equilibrium point is studied using the corresponding characteristic equation.We find that multiple delays can induce the system to exhibit stable switching between the resting state and periodic motion.Stability regions with delay-dependence are exhibited in the parameter plane of the time delays employing the Hopf bifurcation curves.To obtain the global perspective of the system dynamics,stability and periodic activity involving multiple equilibria are investigated by analyzing the intersection points of the pitchfork and Hopf bifurcation curves,called the Bogdanov-Takens(BT)bifurcation.The homoclinic bifurcation and the fold bifurcation of limit cycle are obtained using the BT theoretical results of the third-order normal form.Finally,numerical simulations are provided to support the theoretical analyses.展开更多
An observer-based adaptive iterative learning control （AILC） scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality （...An observer-based adaptive iterative learning control （AILC） scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality （LMI） method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative （PID） feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function （CEF）, we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper.展开更多
This critical review of the literature assembles and compares available data on breast cancer clinical stage, time intervals to care, and access barriers in different countries. It provides evidence that while more th...This critical review of the literature assembles and compares available data on breast cancer clinical stage, time intervals to care, and access barriers in different countries. It provides evidence that while more than 70% of breast cancer patients in most high-income countries are diagnosed in stages Ⅰ and Ⅱ, only 20%-50% patients in the majority of low- and middleincome countries are diagnosed in these earlier stages. Most studies in the developed world show an association between an advanced clinical stage of breast cancer and delays greater than three months between symptom discovery and treatment start. The evidence assembled in this review shows that the median of this interval is 30-48 d in high-income countries but 3-8 mo in low- and middle-income countries. The longest delays occur between the first medical consultation and the beginning of treatment, known as the provider interval. The little available evidence suggests that access barriers and quality deficiencies in cancer care are determinants of provider delay in low- and middle-income countries. Research on specific access barriers and deficiencies in quality of care for the early diagnosis and treatment of breast cancer is practically non-existentin these countries, where it is the most needed for the design of cost-effective public policies that strengthen health systems to tackle this expensive and deadly disease.展开更多
This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed c...This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.展开更多
Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model ...Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model Predictive Control(MPC)technique in the presence of various uncertainties and external disturbances.The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays,parametric uncertainties,and disturbances.The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed,namely the hover,transition,and cruise mode.The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component.Moreover,different uncertainties such as parametric,time delays in state and input,are introduced in translational and rotational components.From the previous work,the Linear Quadratic Tracker with Integrator(LQTI)is used for comparison to corroborate the performance of the designed controller.Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy.Finally,discussions are provided to demonstrate the effectiveness of the given methodology.展开更多
With the help of a continuation theorem based on Gaines and Mawhin's coincidence degree, we study the global existence of positive periodic solutions of a 'food-limited' population model with toxicants and...With the help of a continuation theorem based on Gaines and Mawhin's coincidence degree, we study the global existence of positive periodic solutions of a 'food-limited' population model with toxicants and time delays. Some new results are obtained.展开更多
The Chinese air transport system has witnessed an important evolution in the last decade,with a strong increase in the number of flights operated and a consequent reduction of their punctuality.In this contribution,we...The Chinese air transport system has witnessed an important evolution in the last decade,with a strong increase in the number of flights operated and a consequent reduction of their punctuality.In this contribution,we propose modelling the process of delay propagation by using complex networks,in which nodes are associated to airports,and links between pairs of them are assigned when a delay propagation is detected.Delay time series are analysed through the wellknown Granger Causality,which allows detecting if one time series is causing the dynamics observed in a second one.Results indicate that delays are mostly propagated from small and regional airports,and through flights operated by turbo-prop aircraft,These insights can be used to design strategies for delay propagation dampening,as for instance by including small airports into the system＇s Collaborative Decision Making.展开更多
In this paper,the satellite attitude control system subject to parametric perturbations,external disturbances,time-varying input delays,actuator faults and saturation is studied.In order to make the controller archite...In this paper,the satellite attitude control system subject to parametric perturbations,external disturbances,time-varying input delays,actuator faults and saturation is studied.In order to make the controller architecture simple and practical,the closed-loop system is transformed into a disturbance-free nominal system and an equivalent disturbance firstly.The equivalent disturbance represents all above uncertainties and actuator failures of the original system.Then a robust controller is proposed in a simple composition consisting of a nominal controller and a robust compensator.The nominal controller is designed for the transformed nominal system.The robust compensator is developed from a second-order filter to restrict the influence of the equivalent disturbance.Stability analysis indicates that both attitude tracking errors and compensator states can converge into the given neighborhood of the origin in finite time.To verify the effectiveness of the proposed control law,numerical simulations are carried out in different cases.Presented results demonstrate that the high-precision attitude tracking control can be achieved by the proposed fault-tolerant control law.Furthermore,multiple system performances including the control accuracy and energy consumption index are fully discussed under a series of compensator parameters.展开更多
In complex environments, many distributed multiagent systems are described with the fractional-order dynamics.In this paper, containment control of fractional-order multiagent systems with multiple leader agents are s...In complex environments, many distributed multiagent systems are described with the fractional-order dynamics.In this paper, containment control of fractional-order multiagent systems with multiple leader agents are studied. Firstly,the collaborative control of fractional-order multi-agent systems(FOMAS) with multiple leaders is analyzed in a directed network without delays. Then, by using Laplace transform and frequency domain theorem, containment consensus of networked FOMAS with time delays is investigated in an undirected network, and a critical value of delays is obtained to ensure the containment consensus of FOMAS. Finally, numerical simulations are shown to verify the results.展开更多
基金supported by the National Key Basic Research Program (Grant No. 2011CB706804)the National Natural Science Foundation of China (Grant No. 50835004)the Ministry of Science and Technology of China (Grant No. 2010ZX04016-012)
文摘This paper analyzes the stability of milling with variable pitch cutter and tool runout cases characterized by multiple delays,and proposes a new variable-step numerical integration method for efficient and accurate stability prediction. The variable-step technique is emphasized here to expand the numerical integration method,especially for the low radial immersion cases with multiple delays. First,the calculation accuracy of the numerical integration method is discussed and the variable-step algorithm is developed for milling stability prediction for single-delay and multiple-delay cases,respectively. The milling stability with variable pitch cutter is analyzed and the result is compared with those predicted with the frequency domain method and the improved full-discretization method. The influence of the runout effect on the stability boundary is investigated by the presented method. The numerical simulation shows that the cutter runout effect increases the stability boundary,and the increasing stability limit is verified by the milling chatter experimental results in the previous research. The numerical and experiment results verify the validity of the proposed method.
基金supported by the National Natural Science Foundation of China(Grant No.11302126)the State Key Program of National Natural Science of China(Grant No.11032009)+1 种基金the Shanghai Leading Academic Discipline Project(Grant No.B302)Young Teacher Training Program of Colleges and Universities in Shanghai(Grant No.ZZhy12030)
文摘In this paper,we investigate an inertial two-neural coupling system with multiple delays.We analyze the number of equilibrium points and demonstrate the corresponding pitchfork bifurcation.Results show that the system has a unique equilibrium as well as three equilibria for different values of coupling weights.The local asymptotic stability of the equilibrium point is studied using the corresponding characteristic equation.We find that multiple delays can induce the system to exhibit stable switching between the resting state and periodic motion.Stability regions with delay-dependence are exhibited in the parameter plane of the time delays employing the Hopf bifurcation curves.To obtain the global perspective of the system dynamics,stability and periodic activity involving multiple equilibria are investigated by analyzing the intersection points of the pitchfork and Hopf bifurcation curves,called the Bogdanov-Takens(BT)bifurcation.The homoclinic bifurcation and the fold bifurcation of limit cycle are obtained using the BT theoretical results of the third-order normal form.Finally,numerical simulations are provided to support the theoretical analyses.
基金supported by National Natural Science Foundation of China(No.60804021,No.60702063)
文摘An observer-based adaptive iterative learning control （AILC） scheme is developed for a class of nonlinear systems with unknown time-varying parameters and unknown time-varying delays. The linear matrix inequality （LMI） method is employed to design the nonlinear observer. The designed controller contains a proportional-integral-derivative （PID） feedback term in time domain. The learning law of unknown constant parameter is differential-difference-type, and the learning law of unknown time-varying parameter is difference-type. It is assumed that the unknown delay-dependent uncertainty is nonlinearly parameterized. By constructing a Lyapunov-Krasovskii-like composite energy function （CEF）, we prove the boundedness of all closed-loop signals and the convergence of tracking error. A simulation example is provided to illustrate the effectiveness of the control algorithm proposed in this paper.
文摘This critical review of the literature assembles and compares available data on breast cancer clinical stage, time intervals to care, and access barriers in different countries. It provides evidence that while more than 70% of breast cancer patients in most high-income countries are diagnosed in stages Ⅰ and Ⅱ, only 20%-50% patients in the majority of low- and middleincome countries are diagnosed in these earlier stages. Most studies in the developed world show an association between an advanced clinical stage of breast cancer and delays greater than three months between symptom discovery and treatment start. The evidence assembled in this review shows that the median of this interval is 30-48 d in high-income countries but 3-8 mo in low- and middle-income countries. The longest delays occur between the first medical consultation and the beginning of treatment, known as the provider interval. The little available evidence suggests that access barriers and quality deficiencies in cancer care are determinants of provider delay in low- and middle-income countries. Research on specific access barriers and deficiencies in quality of care for the early diagnosis and treatment of breast cancer is practically non-existentin these countries, where it is the most needed for the design of cost-effective public policies that strengthen health systems to tackle this expensive and deadly disease.
基金supported by the National Natural Science Foundation of China(No.60674050,60736022,10972002,60774089,60704039)
文摘This paper studies the consensus problems for a group of agents with switching topology and time-varying communication delays, where the dynamics of agents is modeled as a high-order integrator. A linear distributed consensus protocol is proposed, which only depends on the agent＇s own information and its neighbors＇ partial information. By introducing a decomposition of the state vector and performing a state space transformation, the closed-loop dynamics of the multi-agent system is converted into two decoupled subsystems. Based on the decoupled subsystems, some sufficient conditions for the convergence to consensus are established, which provide the upper bounds on the admissible communication delays. Also, the explicit expression of the consensus state is derived. Moreover, the results on the consensus seeking of the group of high-order agents have been extended to a network of agents with dynamics modeled as a completely controllable linear time-invariant system. It is proved that the convergence to consensus of this network is equivalent to that of the group of high-order agents. Finally, some numerical examples are given to demonstrate the effectiveness of the main results.
基金co-supported by the National Natural Science Foundation of China(Nos.61225015,61105092,61422102,and 61703040)the Beijing Natural Science Foundation,China(No.4161001)the China Postdoctoral Science Foundation(No.2017M620640)。
文摘Designing a stable and robust flight control system for an Unmanned Aerial Vehicle(UAV)is an arduous task.This paper addresses the trajectory tracking control problem of a Ducted Fan UAV(DFUAV)using offset-free Model Predictive Control(MPC)technique in the presence of various uncertainties and external disturbances.The designed strategy aims to ensure adequate flight robustness and stability while overcoming the effects of time delays,parametric uncertainties,and disturbances.The six degrees of freedom DFUAV model is divided into three flight modes based on its airspeed,namely the hover,transition,and cruise mode.The Dryden wind turbulence is applied to the DFUAV in the linear and angular velocity component.Moreover,different uncertainties such as parametric,time delays in state and input,are introduced in translational and rotational components.From the previous work,the Linear Quadratic Tracker with Integrator(LQTI)is used for comparison to corroborate the performance of the designed controller.Simulations are computed to investigate the control performance for the aforementioned modes and different flight phases including the autonomous flight to validate the performance of the designed strategy.Finally,discussions are provided to demonstrate the effectiveness of the given methodology.
基金Supported by the National Natural Sciences Foundation of China (No.10171010) Key Project on Sciences and Technology of the Ministry of Education of China (No. Key 01061)the Natural Sciences Foundation for Young Scholar of Northeast Normal Unive
文摘With the help of a continuation theorem based on Gaines and Mawhin's coincidence degree, we study the global existence of positive periodic solutions of a 'food-limited' population model with toxicants and time delays. Some new results are obtained.
文摘The Chinese air transport system has witnessed an important evolution in the last decade,with a strong increase in the number of flights operated and a consequent reduction of their punctuality.In this contribution,we propose modelling the process of delay propagation by using complex networks,in which nodes are associated to airports,and links between pairs of them are assigned when a delay propagation is detected.Delay time series are analysed through the wellknown Granger Causality,which allows detecting if one time series is causing the dynamics observed in a second one.Results indicate that delays are mostly propagated from small and regional airports,and through flights operated by turbo-prop aircraft,These insights can be used to design strategies for delay propagation dampening,as for instance by including small airports into the system＇s Collaborative Decision Making.
基金supported by the APSCO(Asia-Pacific Space Cooperation Organization)Student Small Satellite(SSS)Project(Microsatellite SSS-1,No.APSCO/ET&DM/SSS/IMP_C_001)。
文摘In this paper,the satellite attitude control system subject to parametric perturbations,external disturbances,time-varying input delays,actuator faults and saturation is studied.In order to make the controller architecture simple and practical,the closed-loop system is transformed into a disturbance-free nominal system and an equivalent disturbance firstly.The equivalent disturbance represents all above uncertainties and actuator failures of the original system.Then a robust controller is proposed in a simple composition consisting of a nominal controller and a robust compensator.The nominal controller is designed for the transformed nominal system.The robust compensator is developed from a second-order filter to restrict the influence of the equivalent disturbance.Stability analysis indicates that both attitude tracking errors and compensator states can converge into the given neighborhood of the origin in finite time.To verify the effectiveness of the proposed control law,numerical simulations are carried out in different cases.Presented results demonstrate that the high-precision attitude tracking control can be achieved by the proposed fault-tolerant control law.Furthermore,multiple system performances including the control accuracy and energy consumption index are fully discussed under a series of compensator parameters.
基金supported by the National Natural Science Foundation of China(61273200,61273152,61202111,61304052,51407088)the Science Foundation of Education Office of Shandong Province of China(ZR2011FM07,BS2015DX018)
文摘In complex environments, many distributed multiagent systems are described with the fractional-order dynamics.In this paper, containment control of fractional-order multiagent systems with multiple leader agents are studied. Firstly,the collaborative control of fractional-order multi-agent systems(FOMAS) with multiple leaders is analyzed in a directed network without delays. Then, by using Laplace transform and frequency domain theorem, containment consensus of networked FOMAS with time delays is investigated in an undirected network, and a critical value of delays is obtained to ensure the containment consensus of FOMAS. Finally, numerical simulations are shown to verify the results.
