Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic cou...Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.展开更多
On the basis of the observational data on the annual sediment transport by debris flow in recent 8 years, appling the catastrophe forecast method of Grey System Theory, this study has established the catastrophe model...On the basis of the observational data on the annual sediment transport by debris flow in recent 8 years, appling the catastrophe forecast method of Grey System Theory, this study has established the catastrophe model of the annual sediment transport by debris flow in Jiangjia Gully. It has forecasted the next potential catastrophic year in which the annual sediment transport will be over the catastrophic. threshold 2 million m3. Furthermore, it has introduced the 'equal dimension-new information model', which makes the forecast be done continuously.展开更多
基金supported by Hubei Provincial Natural Science Foundation of China(No.2012FFC09401)
文摘Abstract： The mathematical model of a high-speed underwater vehicle getting catastrophe in the out-of-water course and a nonlinear sliding mode control with the adaptive backstepping approach for the catastrophic course are proposed. The speed change is large at the moment that the high-speed underwater vehicle launches out of the water to attack an air target. It causes motion parameter uncertainties and affects the precision attack ability. The trajectory angle dynamic characteristic is based on the description of the transformed state-coordinates, the nonlinear sliding mode control is designed to track a linear reference model. Furthermore, the adaptive backstepping control approach is utilized to improve the robustness against the unknown parameter uncertainties. With the proposed control of attitude tracking, the controlled navigational control system possesses the advantages of good transient performance and robustness to parametric uncertainties. These can be predicted and regulated through the design of a linear reference model that has the desired dynamic behavior for the trajectory of the high-speed underwater vehicle to attack its target. Finally, some digital simulation results show that the control system can be applied to a catastrophic course, and that it illustrates great robustness against system parameter uncertainties and external disturbances.
文摘On the basis of the observational data on the annual sediment transport by debris flow in recent 8 years, appling the catastrophe forecast method of Grey System Theory, this study has established the catastrophe model of the annual sediment transport by debris flow in Jiangjia Gully. It has forecasted the next potential catastrophic year in which the annual sediment transport will be over the catastrophic. threshold 2 million m3. Furthermore, it has introduced the 'equal dimension-new information model', which makes the forecast be done continuously.
