In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w...In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.展开更多
Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry fe...Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry features,triply periodic minimal surface(TPMS)is emerging as an outstanding solution to constructing porous structures in recent years.However,many advantages of TPMS are not fully utilized in current research.Critical problems of the process from design,manufacturing to applications need further systematic and integrated discussions.In this work,a comprehensive overview of TPMS porous structures is provided.In order to generate the digital models of TPMS,the geometry design algorithms and performance control strategies are introduced according to diverse requirements.Based on that,precise additive manufacturing methods are summarized for fabricating physical TPMS products.Furthermore,actual multidisciplinary applications are presented to clarify the advantages and further potential of TPMS porous structures.Eventually,the existing problems and further research outlooks are discussed.展开更多
The morphing technology of hypersonic vehicle improved the flight performance by changing aerodynamic characteristics with shape deformations,but the design of guidance and control system with morphing laws remained t...The morphing technology of hypersonic vehicle improved the flight performance by changing aerodynamic characteristics with shape deformations,but the design of guidance and control system with morphing laws remained to be explored.An Integrated of Guidance,Control and Morphing(IGCM)method for Hypersonic Morphing Vehicle(HMV)was developed in this paper.The IGCM method contributed to an effective solution of morphing characteristic to improve flight performance and reject the disturbance for guidance and control system caused by the morphing system for HMV in gliding phase.The IGCM models were established based on the motion models and aerodynamic models of the variable span vehicle.Then the IGCM method was designed by adaptive block dynamic surface back-stepping method with stability proof.The parallel controlled simulations’results showed the effectiveness in accomplishing the flight mission of IGCM method in glide phase with smaller terminal errors.The velocity loss of HMV was reduced by 32.8%which inferred less flight time and larger terminal flight velocity than invariable span vehicle.Under the condition of large deviations of aerodynamic parameters and atmospheric density,the robustness of IGCM method with variable span was verified.展开更多
基金supported in part by the National Natural Science Foundation of China (61773051,61773072,61761166011)the Fundamental Research Fund for the Central Universities (2016RC021,2017JBZ003)
文摘In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.
基金financially supported by National Key R&D Program of China(No.2020YFC1107103)Key Research and Development Program of Zhejiang Province(No.2021C01107)+1 种基金China Postdoctoral Science Foundation(No.2020M681846)Science Fund for Creative Research Groups of National Natural Science Foundation of China(No.51821093).
文摘Inspired by natural porous architectures,numerous attempts have been made to generate porous structures.Owing to the smooth surfaces,highly interconnected porous architectures,and mathematical controllable geometry features,triply periodic minimal surface(TPMS)is emerging as an outstanding solution to constructing porous structures in recent years.However,many advantages of TPMS are not fully utilized in current research.Critical problems of the process from design,manufacturing to applications need further systematic and integrated discussions.In this work,a comprehensive overview of TPMS porous structures is provided.In order to generate the digital models of TPMS,the geometry design algorithms and performance control strategies are introduced according to diverse requirements.Based on that,precise additive manufacturing methods are summarized for fabricating physical TPMS products.Furthermore,actual multidisciplinary applications are presented to clarify the advantages and further potential of TPMS porous structures.Eventually,the existing problems and further research outlooks are discussed.
文摘The morphing technology of hypersonic vehicle improved the flight performance by changing aerodynamic characteristics with shape deformations,but the design of guidance and control system with morphing laws remained to be explored.An Integrated of Guidance,Control and Morphing(IGCM)method for Hypersonic Morphing Vehicle(HMV)was developed in this paper.The IGCM method contributed to an effective solution of morphing characteristic to improve flight performance and reject the disturbance for guidance and control system caused by the morphing system for HMV in gliding phase.The IGCM models were established based on the motion models and aerodynamic models of the variable span vehicle.Then the IGCM method was designed by adaptive block dynamic surface back-stepping method with stability proof.The parallel controlled simulations’results showed the effectiveness in accomplishing the flight mission of IGCM method in glide phase with smaller terminal errors.The velocity loss of HMV was reduced by 32.8%which inferred less flight time and larger terminal flight velocity than invariable span vehicle.Under the condition of large deviations of aerodynamic parameters and atmospheric density,the robustness of IGCM method with variable span was verified.
