Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial laun...Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.展开更多
Poor nitrogen use efficiency in rice production is a critical issue in China. Site-specific N managements （SSNM） such as real-time N management （RTNM） and fixed-time adjustable-dose N management （FTNM） improve f...Poor nitrogen use efficiency in rice production is a critical issue in China. Site-specific N managements （SSNM） such as real-time N management （RTNM） and fixed-time adjustable-dose N management （FTNM） improve fertilizer-N use efficiency of irrigated rice. This study was aimed to compare the different nitrogen （N） rates and application methods （FFP, SSNM, and RTNM methods） under with- and without-fungicide application conditions on grain yield, yield components, solar radiation use efficiency （RUE）, agronomic-nitrogen use efficiency （AEN）, and sheath blight disease intensity. Field experiments were carried out at Liuyang County, Hunan Province, China, during 2006 and 2007. A super hybrid rice Liangyou 293 （LY293） was used as experimental material. The results showed that RTNM and SSNM have great potential for improving agronomic-nitrogen use efficiency without sacrificing the grain yield. There were significant differences in light interception rate, sheath blight disease incidence （DI） and the disease index （ShBI）, and total dry matter among the different nitrogen management methods. The radiation use efficiency was increased in a certain level of applied N. But, the harvest index （HI） decreased with the increase in applied N. There is a quadratic curve relationship between grain yield and applied N rates. With the same N fertilizer rate, different fertilizer-N application methods affected the RUE and grain yield. The fungicide application not only improved the canopy light interception rate, RUE, grain filling, and harvest index, but also reduced the degree of sheath blight disease. The treatment of RTNM under the SPAD threshold value 40 obtained the highest yield. While the treatment of SSNM led to the highest nitrogen agronomic efficiency and higher rice yield, and decreased the infestation of sheath blight disease dramatically as well. Nitrogen application regimes and diseases control in rice caused obvious effects on light interception rate, RUE, and HI. Optimal N展开更多
This paper addresses the fixed-time adaptive model reference sliding mode control for an air-to-ground missile associated with large speed ranges, mismatched disturbances and un-modeled dynamics. Firstly, a sliding mo...This paper addresses the fixed-time adaptive model reference sliding mode control for an air-to-ground missile associated with large speed ranges, mismatched disturbances and un-modeled dynamics. Firstly, a sliding mode surface is developed by the tracking error of the state equation and the model reference state equation with respect to the air-to-ground missile. More specifically,a novel fixed-time adaptive reaching law is presented. Subsequently, the mismatched disturbances and the un-modeled dynamics are treated as the model errors of the state equation. These model errors are estimated by means of a fixed-time disturbance observer, and they are also utilized to compensate the proposed controller. Therefore, the fixed-time controller is obtained by an adaptive reaching law and a fixed-time disturbance observer. Closed-loop stability of the proposed controller is established. Finally, simulation results including Monte Carlo simulations, nonlinear six-DegreeOf-Freedom(6-DOF) simulations and different ranges are presented to demonstrate the efficacy of the proposed control scheme.展开更多
The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this paper.To approximate the unknown nonlinear functions in MASs,radial basis function...The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this paper.To approximate the unknown nonlinear functions in MASs,radial basis function neural networks are used.In addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed time.With the help of the Nussbaum function,the actuator failure compensation mechanism is constructed.By designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of origin.Finally,the effectiveness of the proposed control method is verified by simulation examples.展开更多
In this paper,the authors tackle a fixed-time average-tracking problem for multi-agent systems which do not require velocity measurements and are affected by external mismatched and matched disturbances.The objective ...In this paper,the authors tackle a fixed-time average-tracking problem for multi-agent systems which do not require velocity measurements and are affected by external mismatched and matched disturbances.The objective requires the considered agents with second-order dynamics to follow the average value of several time-varying reference signals,each of which is acquired by only one agent.First of all,the average value is estimated by using a novel distributed average estimator in a fixed time.Second,an original observer is created to provide estimated values in a fixed time for external mismatched and matched disturbances as well as unmeasured velocities of agents.Then,the authors propose a novel fixed-time anti-disturbance average-tracking protocol with the aid of the observer and a sliding mode surface.In the end,the feasibility of theoretical analysis is illustrated by some simulation experiments.展开更多
This paper considers the drive-response synchronization in finite-time and fixed-time of inertial neural networks with time-varying and distributed delays(mixed delays). First, by constructing a proper variable substi...This paper considers the drive-response synchronization in finite-time and fixed-time of inertial neural networks with time-varying and distributed delays(mixed delays). First, by constructing a proper variable substitution, the original inertial neural networks can be rewritten as a first-order differential system. Second, by constructing Lyapunov functions and using differential inequalities,some new and effective criteria are obtained for ensuring the finite-time synchronization. Finally, three numerical examples are also given at the end of this paper to show the effectiveness of the results.展开更多
An anti-saturation fault-tolerant adaptive torsional vibration control method with fixed-time prescribed performance for the rolling mill main drive system(RMMDS)was investigated,which is affected by control input sat...An anti-saturation fault-tolerant adaptive torsional vibration control method with fixed-time prescribed performance for the rolling mill main drive system(RMMDS)was investigated,which is affected by control input saturation,actuator faults,sensor measurement errors,and parameter perturbations.First,we gave a continuously differentiable saturation function to approximate the control input saturation characteristic of the RMMDS,translating the saturation characteristic into the matched uncertainty and unknown time-varying gain in the system.Then,an RMMDS mathematical model with unmatched uncertainty and unknown time-varying gain was developed,taking into account the presence of control input saturation,actuator faults,sensor measurement errors,and parameter perturbations.Based on the established mathematical model,an error transformation model of the roll speed tracking was constructed by the equivalent error transformation method.According to the error transformation model,a barrier Lyapunov function and a novel adaptive controller were studied to ensure that the roll speed tracking error always evolves inside a fixed-time asymmetric constraint.Finally,numerical simulations were performed in Matlab/Simulink to verify the effectiveness and superiority of the proposed control method in suppressing the RMMDS torsional vibration.展开更多
Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated environment.By considering the effect of human intelligence and decision making,the sys...Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated environment.By considering the effect of human intelligence and decision making,the system robustness and security are notably enhanced.Hence,a distributed fixed-time tracking control problem is investigated in this paper for heterogeneous MASs based on the HiTL idea.First,a lemma of practically fixed-time stable is given where an explicit relationship of settling time and convergence domain is clearly shown.Then,under the framework of the adaptive backstepping approach,a series of modified intermediate control signals is designed to avoid the singularity problem by taking advantage of power transformation,fuzzy logic systems,and inequality schemes.Finally,the numerical example and comparison results are utilized to testify the effectiveness of the proposed method.展开更多
The accelerated method in solving optimization problems has always been an absorbing topic.Based on the fixedtime(FxT)stability of nonlinear dynamical systems,we provide a unified approach for designing FxT gradient f...The accelerated method in solving optimization problems has always been an absorbing topic.Based on the fixedtime(FxT)stability of nonlinear dynamical systems,we provide a unified approach for designing FxT gradient flows(FxTGFs).First,a general class of nonlinear functions in designing FxTGFs is provided.A unified method for designing first-order FxTGFs is shown under Polyak-Łjasiewicz inequality assumption,a weaker condition than strong convexity.When there exist both bounded and vanishing disturbances in the gradient flow,a specific class of nonsmooth robust FxTGFs with disturbance rejection is presented.Under the strict convexity assumption,Newton-based FxTGFs is given and further extended to solve time-varying optimization.Besides,the proposed FxTGFs are further used for solving equation-constrained optimization.Moreover,an FxT proximal gradient flow with a wide range of parameters is provided for solving nonsmooth composite optimization.To show the effectiveness of various FxTGFs,the static regret analyses for several typical FxTGFs are also provided in detail.Finally,the proposed FxTGFs are applied to solve two network problems,i.e.,the network consensus problem and solving a system linear equations,respectively,from the perspective of optimization.Particularly,by choosing component-wisely sign-preserving functions,these problems can be solved in a distributed way,which extends the existing results.The accelerated convergence and robustness of the proposed FxTGFs are validated in several numerical examples stemming from practical applications.展开更多
This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theor...This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.展开更多
基金supported in part by the National Natural Science Foundation of China (Nos.11202024,11572036)
文摘Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.
基金the National Natural Science Foundation of China (30671219)the Ministry of Science and Technology of China (2009CB118 603)
文摘Poor nitrogen use efficiency in rice production is a critical issue in China. Site-specific N managements （SSNM） such as real-time N management （RTNM） and fixed-time adjustable-dose N management （FTNM） improve fertilizer-N use efficiency of irrigated rice. This study was aimed to compare the different nitrogen （N） rates and application methods （FFP, SSNM, and RTNM methods） under with- and without-fungicide application conditions on grain yield, yield components, solar radiation use efficiency （RUE）, agronomic-nitrogen use efficiency （AEN）, and sheath blight disease intensity. Field experiments were carried out at Liuyang County, Hunan Province, China, during 2006 and 2007. A super hybrid rice Liangyou 293 （LY293） was used as experimental material. The results showed that RTNM and SSNM have great potential for improving agronomic-nitrogen use efficiency without sacrificing the grain yield. There were significant differences in light interception rate, sheath blight disease incidence （DI） and the disease index （ShBI）, and total dry matter among the different nitrogen management methods. The radiation use efficiency was increased in a certain level of applied N. But, the harvest index （HI） decreased with the increase in applied N. There is a quadratic curve relationship between grain yield and applied N rates. With the same N fertilizer rate, different fertilizer-N application methods affected the RUE and grain yield. The fungicide application not only improved the canopy light interception rate, RUE, grain filling, and harvest index, but also reduced the degree of sheath blight disease. The treatment of RTNM under the SPAD threshold value 40 obtained the highest yield. While the treatment of SSNM led to the highest nitrogen agronomic efficiency and higher rice yield, and decreased the infestation of sheath blight disease dramatically as well. Nitrogen application regimes and diseases control in rice caused obvious effects on light interception rate, RUE, and HI. Optimal N
基金co-supported by the National Natural Science Foundation of China (No. 61403100)the Open Fund of National Defense Key Discipline Laboratory of Micro-Spacecraft Technology of China (No. HIT.KLOF. MST.201704)the Fundamental Research Funds for the Central Universities of China (No. HIT.NSRIF.2015.037)
文摘This paper addresses the fixed-time adaptive model reference sliding mode control for an air-to-ground missile associated with large speed ranges, mismatched disturbances and un-modeled dynamics. Firstly, a sliding mode surface is developed by the tracking error of the state equation and the model reference state equation with respect to the air-to-ground missile. More specifically,a novel fixed-time adaptive reaching law is presented. Subsequently, the mismatched disturbances and the un-modeled dynamics are treated as the model errors of the state equation. These model errors are estimated by means of a fixed-time disturbance observer, and they are also utilized to compensate the proposed controller. Therefore, the fixed-time controller is obtained by an adaptive reaching law and a fixed-time disturbance observer. Closed-loop stability of the proposed controller is established. Finally, simulation results including Monte Carlo simulations, nonlinear six-DegreeOf-Freedom(6-DOF) simulations and different ranges are presented to demonstrate the efficacy of the proposed control scheme.
基金the National Natural Science Foundation of China(62003093,62203119,62033003,62121004)the China National Postdoctoral Program(BX20220095,2022M710826)+1 种基金the Natural Science Foundation of Guangdong Province(2022A1515011506)the Guangzhou Science and Technology Planning Project(202102020586)。
文摘The adaptive fixed-time consensus problem for a class of nonlinear multi-agent systems(MASs)with actuator faults is considered in this paper.To approximate the unknown nonlinear functions in MASs,radial basis function neural networks are used.In addition,the first order sliding mode differentiator is utilized to solve the“explosion of complexity”problem,and a filter error compensation method is proposed to ensure the convergence of filter error in fixed time.With the help of the Nussbaum function,the actuator failure compensation mechanism is constructed.By designing the adaptive fixed-time controller,all signals in MASs are bounded,and the consensus errors between the leader and all followers converge to a small area of origin.Finally,the effectiveness of the proposed control method is verified by simulation examples.
基金supported by the National Natural Science Foundation of China under Grant Nos.61973139,61973082 and 61473138the Fundamental Research Funds for the Central Universities under Grant No.JUSRP22014。
文摘In this paper,the authors tackle a fixed-time average-tracking problem for multi-agent systems which do not require velocity measurements and are affected by external mismatched and matched disturbances.The objective requires the considered agents with second-order dynamics to follow the average value of several time-varying reference signals,each of which is acquired by only one agent.First of all,the average value is estimated by using a novel distributed average estimator in a fixed time.Second,an original observer is created to provide estimated values in a fixed time for external mismatched and matched disturbances as well as unmeasured velocities of agents.Then,the authors propose a novel fixed-time anti-disturbance average-tracking protocol with the aid of the observer and a sliding mode surface.In the end,the feasibility of theoretical analysis is illustrated by some simulation experiments.
文摘This paper considers the drive-response synchronization in finite-time and fixed-time of inertial neural networks with time-varying and distributed delays(mixed delays). First, by constructing a proper variable substitution, the original inertial neural networks can be rewritten as a first-order differential system. Second, by constructing Lyapunov functions and using differential inequalities,some new and effective criteria are obtained for ensuring the finite-time synchronization. Finally, three numerical examples are also given at the end of this paper to show the effectiveness of the results.
基金supported by Central Government to Guide local scientific and Technological Development of Hebei Province(No.216Z1902G)Major Program of National Natural Science Foundation of China(U20A20332)+1 种基金Natural Science Foundation of Hebei Province(A2022203024)Provincial Key Laboratory Performance Subsidy Project(22567612H).
文摘An anti-saturation fault-tolerant adaptive torsional vibration control method with fixed-time prescribed performance for the rolling mill main drive system(RMMDS)was investigated,which is affected by control input saturation,actuator faults,sensor measurement errors,and parameter perturbations.First,we gave a continuously differentiable saturation function to approximate the control input saturation characteristic of the RMMDS,translating the saturation characteristic into the matched uncertainty and unknown time-varying gain in the system.Then,an RMMDS mathematical model with unmatched uncertainty and unknown time-varying gain was developed,taking into account the presence of control input saturation,actuator faults,sensor measurement errors,and parameter perturbations.Based on the established mathematical model,an error transformation model of the roll speed tracking was constructed by the equivalent error transformation method.According to the error transformation model,a barrier Lyapunov function and a novel adaptive controller were studied to ensure that the roll speed tracking error always evolves inside a fixed-time asymmetric constraint.Finally,numerical simulations were performed in Matlab/Simulink to verify the effectiveness and superiority of the proposed control method in suppressing the RMMDS torsional vibration.
基金the National Natural Science Foundation of China(Grant Nos.62373208,62003097,62033003,61873139,62103214 and 62203245)the Talent Introduction and Cultivation Plan for Youth Innovation of Universities in Shandong Province。
文摘Human-in-the-loop(HiTL)control is promising for the cooperative control problem of multi-agent systems(MASs)under the complicated environment.By considering the effect of human intelligence and decision making,the system robustness and security are notably enhanced.Hence,a distributed fixed-time tracking control problem is investigated in this paper for heterogeneous MASs based on the HiTL idea.First,a lemma of practically fixed-time stable is given where an explicit relationship of settling time and convergence domain is clearly shown.Then,under the framework of the adaptive backstepping approach,a series of modified intermediate control signals is designed to avoid the singularity problem by taking advantage of power transformation,fuzzy logic systems,and inequality schemes.Finally,the numerical example and comparison results are utilized to testify the effectiveness of the proposed method.
基金supported by the National Key Research and Development Program of China(2020YFA0714300)the National Natural Science Foundation of China(62003084,62203108,62073079)+3 种基金the Natural Science Foundation of Jiangsu Province of China(BK20200355)the General Joint Fund of the Equipment Advance Research Program of Ministry of Education(8091B022114)Jiangsu Province Excellent Postdoctoral Program(2022ZB131)China Postdoctoral Science Foundation(2022M720720,2023T160105).
文摘The accelerated method in solving optimization problems has always been an absorbing topic.Based on the fixedtime(FxT)stability of nonlinear dynamical systems,we provide a unified approach for designing FxT gradient flows(FxTGFs).First,a general class of nonlinear functions in designing FxTGFs is provided.A unified method for designing first-order FxTGFs is shown under Polyak-Łjasiewicz inequality assumption,a weaker condition than strong convexity.When there exist both bounded and vanishing disturbances in the gradient flow,a specific class of nonsmooth robust FxTGFs with disturbance rejection is presented.Under the strict convexity assumption,Newton-based FxTGFs is given and further extended to solve time-varying optimization.Besides,the proposed FxTGFs are further used for solving equation-constrained optimization.Moreover,an FxT proximal gradient flow with a wide range of parameters is provided for solving nonsmooth composite optimization.To show the effectiveness of various FxTGFs,the static regret analyses for several typical FxTGFs are also provided in detail.Finally,the proposed FxTGFs are applied to solve two network problems,i.e.,the network consensus problem and solving a system linear equations,respectively,from the perspective of optimization.Particularly,by choosing component-wisely sign-preserving functions,these problems can be solved in a distributed way,which extends the existing results.The accelerated convergence and robustness of the proposed FxTGFs are validated in several numerical examples stemming from practical applications.
基金supported by the National Natural Science Foundation of China(Grant Nos.52272358 and 62103052)。
文摘This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.
