Autonomous underwater gliders are highly effcient,buoyancy-driven,winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition,the gliders are underactuated and diffcult to ma...Autonomous underwater gliders are highly effcient,buoyancy-driven,winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition,the gliders are underactuated and diffcult to maneuver,and also dependent on their operational environment. To confront these problems and to design an effective controller,the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed,and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.展开更多
Using Monte Carlo method with zero-temperature dynamics, we investigate energy evolution of Ising spin configuration on a square lattice. The energies of some configurations exhibit long duration before those configur...Using Monte Carlo method with zero-temperature dynamics, we investigate energy evolution of Ising spin configuration on a square lattice. The energies of some configurations exhibit long duration before those configurations reach the final state -- ground state or frozen stripe state. For ground-state dynamical realization, the duration occurs when the energy per spin is 4/L, where L is the lattice size. For stripe-state dynamical realization, the energy is slightly higher than 2/L when the duration appears in the last evolution stage. In addition, it is found that the average energy per spin in final state is approximately 2/3L.展开更多
基金the National Natural Science Foundation of China (No. 50979058)the Special Research Fund for the Doctoral Program of Higher Education (No. 20090073110012)
文摘Autonomous underwater gliders are highly effcient,buoyancy-driven,winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems. In addition,the gliders are underactuated and diffcult to maneuver,and also dependent on their operational environment. To confront these problems and to design an effective controller,the inverse system method was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero dynamics was analyzed,and an additional closed-loop controller for each linear subsystem was designed by sliding mode control method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able to cope with the aforementioned problems simultaneously and satisfactorily.
文摘Using Monte Carlo method with zero-temperature dynamics, we investigate energy evolution of Ising spin configuration on a square lattice. The energies of some configurations exhibit long duration before those configurations reach the final state -- ground state or frozen stripe state. For ground-state dynamical realization, the duration occurs when the energy per spin is 4/L, where L is the lattice size. For stripe-state dynamical realization, the energy is slightly higher than 2/L when the duration appears in the last evolution stage. In addition, it is found that the average energy per spin in final state is approximately 2/3L.
