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Real-time Feed-forward Force Compensation for Active Magnetic Bearings System Based on H∞Controller 认领 引用 被引量：11
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作者 GAO Hui XU Longxiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2011年第1期58-66,共9页
There are two kinds of unbalance vibrations—force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB)system.And two unbalance compensation methods—close... There are two kinds of unbalance vibrations—force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB)system.And two unbalance compensation methods—closed-loop feedback and open loop feed-forward are presented to reduce the force vibration.The transfer function order of the control system directly influencing the system stability will be increased when the closed-loop method is adopted,which makes the real-time compensation not easily achieved.While the open loop method would not increase the primary transfer function order,it provides conditions for real-time compensation.But the real-time compensation signals are not easy to be obtained in the open loop method.To implement real-time force compensation,a new method is proposed to reduce the force vibration caused by the rotor unbalance on the basis of AMB active control.The method realizes real-time and on-line force auto-compensation based on H∞controller and one novel feed-forward compensation controller,which makes the rotor rotate around its inertia axis.The time-variable feed-forward compensatory signal is provided by a modified adaptive variable step-size least mean square(VSLMS)algorithm.And the relevant least mean square(LMS)algorithm parameters are used to solve the H∞controller weighting functions.The simulation of the new method to compensate some frequency-variable and sinusoidal signals is completed by MATLAB programming,and real-time compensation is implemented in the actual AMB experimental system.The simulation and experiment results show that the compensation scheme can improve the robust stability and the anti-interference ability of the whole AMB system by using H∞controller to achieve close-loop control,and then real-time force unbalance compensation is implemented.The proposed research provides a new control strategy containing real-time algorithm and H∞controller for the force compensation of AMB system.And the stability of the control system is finally improved. 展开更多
关键词 active magnetic bearings H∞robust controller sensitivity and complementary sensitivity VSLMS algorithm feed-forward compensation
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Hybrid Controller for Steady Speed of Agricultural Machinery on Slopes 认领 引用 被引量：1
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作者 WU Caicong XU Haisong GAO Xingyu 《农业机械学报》 EI CAS CSCD 北大核心 2026年第2期416-426,共11页
Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybr... Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations. 展开更多
关键词 farmland slope PID controller steady speed control agricultural machinery unmanned operation
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A Hybrid MZOA-PSO Optimized Cascaded PI(1+DD)-PI-PID Controller for Frequency Stability of Interconnected Power Systems with Renewable Energy and Electric Vehicles 认领 引用
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作者 AL-Wesabi Ibrahim Hassan M.Hussein Farh +3 位作者 Jiazhu Xu Mohamad A.Alawad Ahmed Alqurashi Abdullrahman A.Al-Shamma’a 《Computer Modeling in Engineering & Sciences》 SCIE EI 2026年第7期650-697,共48页
Load frequency control(LFC)in interconnected power systems has always been a challenging task in the presence of uncertainty and variability in the power systems arising primarily due to the integration of renewable e... Load frequency control(LFC)in interconnected power systems has always been a challenging task in the presence of uncertainty and variability in the power systems arising primarily due to the integration of renewable energy sources and the impact of electric vehicles on the power system.Although various PI/PID and other advanced control strategies have been employed for LFC in power systems,the existing methods have shown some limitations in terms of dynamic flexibility and robustness in the presence of nonlinearities and couplings in the power systems.Moreover,the optimization methods employed for the tuning of the controllers have shown some limitations in terms of the balance between global and local search abilities of the optimization functions.To overcome the limitations of the existing methods and optimization functions,a hybrid Modified Zebra Optimization Algorithm-Particle Swarm Optimization(MZOA-PSO)is presented in this paper for the optimization of a cascaded PI(1+DD)-PI-PID controller for LFC in power systems.The MZOA enhances the original ZOA by chaotic initialization,adaptive parameter control,and Lévy-flight foraging to improve the global search ability,while PSO ensures efficient local search ability.The optimizer is first validated using four benchmark functions,achieving the global optimum for the Booth and Zakharov functions,a mean value of 2.13×10−28 with a 98%success rate for Rosenbrock,and 3.21×10−81 for Schwefel 2.22.Under a 1%step load perturbation,the proposed controller achieves a 13 s settling time,zero negative deviation in Area 2,a maximum positive excursion of 0.10 Hz,and tie-line undershoot limited to−0.10 p.u.Under random load variations,deviations remain within±0.03 Hz and±0.02 p.u.Under RES and EV integration,the peak frequency deviation is reduced to 0.46 Hz in Area 1.These results confirm that the proposed hybrid MZOA-PSO tuned cascaded controller provides improved damping,faster stabilization,and stronger robustness for modern interconnected LFC systems. 展开更多
关键词 Load frequency control cascaded PI(1+DD)-PI-PID controller hybrid MZOA-PSO algorithm interconnected power systems performance optimization
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A Review on Global Trends in Inverter Topologies,Controllers,Applications,Challenges and Solutions 认领 引用
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作者 Md.Liton Hossain Md.Zahid Ansary +3 位作者 Jiefeng Hu Syed Islam Maaspaliza Azri Norezmi Md.Jamal 《Energy Engineering》 EI 2026年第8期454-478,共25页
Inverters play an essential and indispensable role in energy conversion within modern electrical power systems.Conventional two-level inverters(2LIs)have been widely adopted across industrial applications due to their... Inverters play an essential and indispensable role in energy conversion within modern electrical power systems.Conventional two-level inverters(2LIs)have been widely adopted across industrial applications due to their simple structure and mature control strategies.However,2LIs exhibit several limitations when interfacing with utility-scale grid systems,including higher harmonic distortion,increased switching stress,and reduced efficiency in high-voltage and high-power operations.Multilevel Inverters(MLIs)have emerged as a transformative solution,enabling high-voltage and high-power applications with improved efficiency and significantly lower harmonic distortion compared to traditional two-level configurations.This review investigates the broad range of applications of 2LIs,along with their operational constraints,and provides a comprehensive overview of major MLI topologies,including neutral-point-clamped(NPC),flying-capacitor(FC),cascaded H-bridge(CHB),hybrid structures,transformer-based converters,and matrix converters.Key modulation and control techniques are also discussed,such as SPWM,SHE,SVPWM and random PWM.Furthermore,this paper highlights the practical deployment of MLIs in industrial motor drives,renewable energy integration,uninterruptible power supplies,and energy storage systems.Beyond technical aspects,global trends in inverter development are examined by comparing efficiencies,capabilities,and challenges among major manufacturers worldwide.Overall,MLIs are presented as scalable,efficient,and reliable converter solutions for the future of industrial and utility-scale power systems,offering valuable insight into current advancements and promising research directions. 展开更多
关键词 Inverter MLIs topologies controllers application industrial inverters challenges and solutions
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Design of Composite Two-Channel Disturbance Estimation Adaptive Controller for Backlash-Like Hysteretic Nonlinear Systems 认领 引用
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作者 LIU Qunpo LI Jiakun +2 位作者 FEI Shumin BU Xuhui NAOHIKO Hanajima 《Journal of Shanghai Jiaotong university(Science)》 EI 2026年第1期106-116,共11页
For nonlinear systems with backlash-like hysteresis characteristics and external disturbance,a composite two-channel disturbance estimation adaptive controller is proposed to improve the trajectory tracking accuracy o... For nonlinear systems with backlash-like hysteresis characteristics and external disturbance,a composite two-channel disturbance estimation adaptive controller is proposed to improve the trajectory tracking accuracy of the system.The unmodeled hysteresis and external disturbances are treated as lumped uncertainties,which are approximated by radial basis neural network and disturbance estimator respectively.These approximations are then linearly fused to form the compensation term for the lumped uncertainty.The second order linear filter is employed to estimate multiple differential terms,which are integrated into the controller design and dynamic system state updates,thereby reducing computational complexity.A weighted fusion mechanism is implemented for the two channels,and the adaptive update rate for each channel is determined based on the deviation between the lumped uncertainty reference value and the output of each channel.To address the challenges posed by the discontinuity of deviation and maintain system stability,the first-order low-pass filter is applied to smooth the deviation,enhancing system robustness.A trajectory tracking simulation of a single-input single-output nonlinear system is conducted to compare the performance of the proposed controller with baseline controllers,demonstrating the effectiveness of the composite two-channel disturbance estimation adaptive controller. 展开更多
关键词 composite adaptive control disturbance estimator external disturbance hysteretic nonlinearity neural network
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A Novel Distributed Controller Design for Robust Global Coordination of MASs With Heterogeneous Saturation 认领 引用
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作者 Xiaoling Wang Shengnan Zhu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第1期230-232,共3页
Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distr... Dear Editor,This letter addresses the challenge of achieving robust global coordination in multi-agent systems(MASs)subject to heterogeneous actuator saturation and additive input disturbances.We develop a novel distributed control framework that strategically integrates a redesigned saturation function to handle the nonlinear actuator constraint and a high-gain feedback mechanism for effective disturbance rejection. 展开更多
关键词 robust global coordination disturbance rejection nonlinear actuator constraint distributed control multi agent systems actuator saturation distributed control framework heterogeneous actuator saturation
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Actor–Critic Trajectory Controller with Optimal Design for Nonlinear Robotic Systems 认领 引用
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作者 Nien-Tsu Hu Hsiang-Tung Kao +1 位作者 Chin-Sheng Chen Shih-Hao Chang 《Computers, Materials & Continua》 SCIE EI 2026年第4期1996-2021,共26页
Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are o... Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering,particularly when both precision and efficiency must be ensured.Conventional control methods are often effective for stabilization but may not directly optimize long-term performance.To address this limitation,this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator.The proposed scheme adopts an actor–critic structure,where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation,and the actor network generates near-optimal control signals in real time.This dual adaptation enables the controller to refine its policy online without explicit system knowledge.Stability of the closed-loop system is analyzed through Lyapunov theory,ensuring boundedness of the tracking error.Numerical simulations on the single-link manipulator demonstrate that themethod achieves accurate trajectory followingwhile maintaining lowcontrol effort.The results further showthat the actor–critic learning mechanism accelerates convergence of the control policy compared with conventional optimization-based strategies.This work highlights the potential of reinforcement learning integrated with optimal control for robotic manipulators and provides a foundation for future extensions to more complex multi-degree-of-freedom systems.The proposed controller is further validated in a physics-based virtual Gazebo environment,demonstrating stable adaptation and real-time feasibility. 展开更多
关键词 Reinforcement learning optimal control actor–critic algorithm trajectory tracking nonlinear systems robotic manipulator
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Fault-tolerant Control and Fault Diagnosis of Symmetrical Six-phase Permanent Magnet Synchronous Motor Drives without Controller Reconfiguration 认领 引用
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作者 Aihua Liu Feng Yu +1 位作者 Qingan Zhu Xiaoxin Wu 《CES Transactions on Electrical Machines and Systems》 EI CSCD 2026年第1期87-96,共10页
Owing to the multi-degree-of-freedom characteristics and inherent fault-tolerant capacity,six-phase motors have been widely adopted in high-power applications,such as electric vehicle propulsion and aerospace systems.... Owing to the multi-degree-of-freedom characteristics and inherent fault-tolerant capacity,six-phase motors have been widely adopted in high-power applications,such as electric vehicle propulsion and aerospace systems.This paper presents the fault-tolerant control strategy of symmetrical six-phase permanent magnet synchronous motor(SSPMSM)under an isolated neutral point topology and proposes a fault diagnosis scheme based on joint diagnosis of multiple variables.First,two mathematical models of SSPMSM and their relationship are established.Subsequently,the current vectors in the torque subspace and harmonic subspace of the two winding sets under fault conditions are analyzed,and the cause of post-fault torque ripple is explained as resulting from controller conflict.In addition,a multivariate fault diagnosis scheme based on voltage threshold in the x-y subspace and current trajectory characteristics in theα-βsubspace is proposed to enhance the diagnostic accuracy.Finally,the feasibility and stability of the proposed control and diagnosis methods are verified by experiments. 展开更多
关键词 Fault-tolerant control Symmetrical six-phase permanent magnet synchronous motor(SSPMSM) Isolated neutral point Controller conflict Multivariate fault diagnosis
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Robust Sensor—Less PR Controller Design for 15-PUC Multilevel Inverter Topology with Low Voltage Stress for Renewable Energy Applications 认领 引用
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作者 K.Naga Venkata Siva Damodhar Reddy +3 位作者 P.Krishna Murthy Kiran Kumar Pulamolu M.Dharani T.Venkatakrishnamoorthy 《Energy Engineering》 EI 2026年第1期221-242,共22页
Conventional multilevel inverters often suffer from high harmonic distortion and increased design complexity due to the need for numerous power semiconductor components,particularly at elevated voltage levels.Addressi... Conventional multilevel inverters often suffer from high harmonic distortion and increased design complexity due to the need for numerous power semiconductor components,particularly at elevated voltage levels.Addressing these shortcomings,thiswork presents a robust 15-level PackedUCell(PUC)inverter topology designed for renewable energy and grid-connected applications.The proposed systemintegrates a sensor less proportional-resonant(PR)controller with an advanced carrier-based pulse width modulation scheme.This approach efficiently balances capacitor voltage,minimizes steady-state error,and strongly suppresses both zero and third-order harmonics resulting in reduced total harmonic distortion and enhanced voltage regulation.Additionally,a novel switching algorithm simplifies the design and implementation,further lowering voltage stress across switches.Extensive simulation results validate the performance under various resistive and resistive-inductive load conditions,demonstrating compliance with IEEE-519 THD standards and robust operation under dynamic changes.The proposed sensorless PR-controlled 15-PUC inverter thus offers a compelling,cost-effective solution for efficient power conversion in next-generation renewable energy systems. 展开更多
关键词 PUC packed U cell MLI multilevel inverter SLC sensorless controller PR proportional resonant controller PD phase disposition THD total harmonic distortion
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Multi-task hierarchical network for semantic understanding of air traffic controller-pilot communication 认领 引用
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作者 Xiaoxiao ZHANG Qihan DENG +4 位作者 Yang YANG Shengsheng QIAN Yi HUI Yanbo ZHU Kaiquan CAI 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第3期499-515,共17页
Flight situational awareness in civil aviation relies on the semantic understanding of both the key details and the full picture from the Air Traffic Controller(ATCo)and pilot communication.This paper proposes a novel... Flight situational awareness in civil aviation relies on the semantic understanding of both the key details and the full picture from the Air Traffic Controller(ATCo)and pilot communication.This paper proposes a novel end-to-end Multi-Task Hierarchical Network(MTHN)for automatically understanding ATCo-pilot communication,handling slot filling,role detection,and intent recognition at different levels while adaptively integrating them.Specifically,we introduce a wordbased knowledge-masked slot distillation module that constructs an ATC knowledge base to dynamically mask keywords during teacher-student distillation.Considering the distinct intent differences between ATCos and pilots,we design a sentence-based role-aware intent attention module that extracts role label space vectors as context to enrich intent representations.To exploit the complementarity across different semantic levels in ATCo-pilot communication,we explicitly develop an adaptive bi-interaction flow module that dynamically explores semantic dependencies among tasks.Extensive experiments on real-world datasets collected in China show the superior performance of MTHN,compared to state-of-the-art baselines in both general natural language understanding and ATC-specific text processing.Our results highlight that MTHN achieves 99.26%,97.25%,and 96.22%accuracy across key slots,as well as 96.59%accuracy in speaker role classification.Moreover,it can perceive multi-label deep intents behind sentences.These analytical findings demonstrate the potential to reduce human errors in high-concurrency ATCo-pilot interactions under dense operational conditions. 展开更多
关键词 Air traffic control Attention mechanism HierarcHical modeling Multi-task learning Semantic understanding
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A Sliding Mode Controller Based on Timoshenko Beam Theory Developed for a Tendon-driven Robotic Wrist 认领 引用
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作者 Shifa Sulaiman Mohammad Gohari +1 位作者 Francesco Schetter Fanny Ficuciello 《Journal of Bionic Engineering》 SCIE EI CSCD 2026年第3期1451-1463,共13页
Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems.This paper presents a design and an implementation of a tendon-driven robotic wrist joint,together with a... Development of dexterous robotic joints is essential for advancing manipulation capabilities in robotic systems.This paper presents a design and an implementation of a tendon-driven robotic wrist joint,together with an efficient Sliding Mode Controller(SMC)for precise motion control.The wrist mechanism is modelled using the Timoshenko-based approach to accurately capture its kinematic and dynamic properties,which serve as the foundation for tendon force calculations within the controller.The proposed SMC is designed to deliver fast dynamic response and computational efficiency,enabling accurate trajectory tracking under varying operating conditions.The effectiveness of the proposed controller is validated through comparative analyses with existing controllers for similar wrist mechanisms.The proposed SMC demonstrated superior performance,validated through both simulation and experimental studies.The Root Mean Square Error(RMSE)range in simulation is found to be approximately 1.67×10-2radians,while experimental validation yielded an error of 0.2 radians.Additionally,the controller achieved a settling time of less than 3 seconds and a steady-state error below 10-1radians,consistently observed across both simulation and experimental evaluations.Comparative analyses with other controllers confirmed that the developed SMC surpassed alternative control strategies in motion accuracy,rapid convergence,and steady-state precision,contributing to enhanced dexterity.This work establishes a foundation for future exploration of tendon-driven wrist mechanisms and control strategies in robotic applications. 展开更多
关键词 Tendon-driven robot Robotic wrist Sliding mode controller Timoshenko beam theory
An Improved PID Controller Based on Artificial Neural Networks for Cathodic Protection of Steel in Chlorinated Media 认领 引用
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作者 José Arturo Ramírez-Fernández Henevith G.Méndez-Figueroa +3 位作者 Sebastián Ossandón Ricardo Galván-Martínez Miguel Ángel Hernández-Pérez Ricardo Orozco-Cruz 《Computers, Materials & Continua》 SCIE EI 2026年第3期624-640,共17页
In this study,artificial neural networks(ANNs)were implemented to determine design parameters for an impressed current cathodic protection(ICCP)prototype.An ASTM A36 steel plate was tested in 3.5%NaCl solution,seawate... In this study,artificial neural networks(ANNs)were implemented to determine design parameters for an impressed current cathodic protection(ICCP)prototype.An ASTM A36 steel plate was tested in 3.5%NaCl solution,seawater,and NS4 using electrochemical impedance spectroscopy(EIS)to monitor the evolution of the substrate surface,which affects the current required to reach the protection potential(Eprot).Experimental data were collected as training datasets and analyzed using statistical methods,including box plots and correlation matrices.Subsequently,ANNs were applied to predict the current demand at different exposure times,enabling the estimation of electrochemical parameters(limiting voltage values)that can be used to optimize a self-regulating ICCP system.The obtained electrochemical parameters were then used,through Particle Swarm Optimization(PSO),to fine-tune an ANN-based proportional-integral-derivative(PID)controller for the ICCP system. 展开更多
关键词 Artificial neural networks(ANNs) corrosion impressed current cathodic protection(ICCP) proportional integral derivative(PID)corrosion control particle swarm optimization(PSO) statistical analysis
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A Dynamic Matrix Controller with Feedforward for Flow Field in Intermittent Transonic Wind Tunnels 认领 引用
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作者 DU Ning ZHU Wenjie +2 位作者 YAO Dan ZOU Xinlei QIN Jianhua 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2026年第1期55-72,共18页
Intermittent transonic wind tunnels demand high-precision and stable control of Mach number and stagnation pressure during the variation of model angle of attack,while the traditional proportional integral derivative(... Intermittent transonic wind tunnels demand high-precision and stable control of Mach number and stagnation pressure during the variation of model angle of attack,while the traditional proportional integral derivative(PID)control strategy fails to achieve the Mach number control error target of 0.001 and is inept at resisting flow field disturbances caused by rapid changes in angle of attack.Aiming at this problem,this study takes the intermittent transonic wind tunnel of China Aerodynamics Research and Development Center as the research object and optimizes the wind tunnel control system for its characteristics of multi-input multi-output(MIMO),large time delay and nonlinearity.First,the control system structure is reconstructed by introducing ejection pressure as a controlled variable to reduce the time lag from the main pressure regulating valve to the test section,and selecting static pressure instead of Mach number as a controlled variable to weaken the nonlinear coupling between Mach number and static pressure.Second,based on the first-order plus dead time process model of the wind tunnel,a MIMO dynamic matrix controller(DMC)for wind tunnel flow field is designed.Considering the predictable nature of angle-of-attack changes,a feedforward compensation strategy is integrated into the DMC to mitigate the pressure disturbance in the test section caused by the variation of angle of attack.Third,a complete tuning strategy for DMC parameters including sampling time,prediction horizon,control horizon and weight coefficients is formulated according to the wind tunnel model parameters under different Mach numbers.Experimental validations through practical blowing tests are carried out at Mach numbers of 0.578,0.675,0.714 and 0.822 to compare the control performance of the proposed feedforward DMC strategy with the traditional PID control and DMC without feedforward compensation.The results show that the proposed strategy stably controls the Mach number error within 0.001,and significantly improves the stagnation pressure control accuracy and anti-disturbance capability of the wind tunnel flow field.Moreover,the strategy exhibits excellent repeatability and robustness under different Mach number conditions.This study effectively solves the problem of high-precision flow field control under the rapid change of angle of attack in intermittent transonic wind tunnels,and provides a technical reference for the flow field control of complex fluid test devices such as hypersonic wind tunnels. 展开更多
关键词 intermittent transonic wind tunnel flow field control dynamic matrix controller(DMC) feedforward compensation multi-input multi-output(MIMO)system parameter tuning
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Adaptive-length data-driven predictive control for post-operation of space robot non-cooperative target capture with disturbances 认领 引用 被引量：1
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作者 Peiji WANG Bicheng CAI +2 位作者 Chengfei YUE Yong ZHAO Weiren WU 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第2期485-498,共14页
This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mi... This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering. 展开更多
关键词 Combined control Data-driven predictive control Post operation Predictive control systems Space non-cooperative target capture
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Neural Network-Based Switching Output Regulation Control for High-Speed Nano-Positioning Stages 认领 引用 被引量：1
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作者 Hongwei Sun Ning Xing +4 位作者 Jiayu Zou Yuqi Rong Yang Shi Han Ding Hai-Tao Zhang 《Engineering》 SCIE EI CSCD 2026年第2期227-235,共9页
This study establishes a high-speed nano-positioning stage composed of a symmetrically driven structure with multiple parallel-bonded thin piezoelectric ceramic layers capable of performing micro-or nanoscale manipula... This study establishes a high-speed nano-positioning stage composed of a symmetrically driven structure with multiple parallel-bonded thin piezoelectric ceramic layers capable of performing micro-or nanoscale manipulations.Accordingly,a neural-network-based switching output regulation controller(NNSORC)was developed to compensate for the associated hysteresis nonlinearity.To address the challenges of slow floating-point computation speeds and low compilation efficiency,a closed-loop control system with a field-programmable gate array–central processing unit(FPGA–CPU)dual-layer data-processing framework was developed.A feedback linearization method was designed to linearize the hysteresis nonlinearity of the framework,resulting in a switching-tracking error system.With the assistance of Lyapunov theory and an average dwell time technique,sufficient conditions were derived to ensure the asymptotic stability of the NN-SORC governing closed-loop system using the switching reference signals often encountered in realistic micro-ano-scale detection and manufacturing processes.Finally,extensive comparative experiments were conducted to verify the effectiveness and superiority of the proposed NN-SORC scheme. 展开更多
关键词 HigH-speed nano-positioning stage Switched system Intelligent control Output regulation control
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Intrusion Detection Systems in Industrial Control Systems:Landscape,Challenges and Opportunities 认领 引用 被引量：1
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作者 Tong Wu Dawei Zhou +1 位作者 Qingyu Ou Fang Luo 《Computers, Materials & Continua》 SCIE EI 2026年第3期162-200,共39页
The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has dri... The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has driven a growing need for robust ICS security measures.Among the key defences,intrusion detection technology is critical in identifying threats to ICS networks.This paper provides an overview of the distinctive characteristics of ICS network security,highlighting standard attack methods.It then examines various intrusion detection methods,including those based on misuse detection,anomaly detection,machine learning,and specialised requirements.This paper concludes by exploring future directions for developing intrusion detection systems to advance research and ensure the continued security and reliability of ICS operations. 展开更多
关键词 Industrial control system industrial control system network security intrusion detection cyberspace security ICS network network security
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Single-time fertilization with controlled release blended fertilizer optimizes soil nitrogen distribution and root characteristics to increase conventional japonica rice(Oryza sativa L.)grain yield and nitrogen use efficiency 认领 引用 被引量：2
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作者 Yuhui Wang Jie Sun +13 位作者 Shen Gao Bin He Zhengyang Wu Wenjun He Weike Tao Xin’ao Tang Zhi Geng Weiwei Li Fei Yang Zhengrong Jiang Zhenghui Liu Yanfeng Ding Soulaiman Sakr Ganghua Li 《Journal of Integrative Agriculture》 SCIE CAS CSCD 2026年第7期2771-2782,共12页
Single-time fertilization(STF)with controlled release blended fertilizer(CRBF)improves grain yield and nitrogen use efficiency(NUE)in rice production.However,the impact of soil nitrogen(N)distribution and root growth ... Single-time fertilization(STF)with controlled release blended fertilizer(CRBF)improves grain yield and nitrogen use efficiency(NUE)in rice production.However,the impact of soil nitrogen(N)distribution and root growth on rice yield and NUE under STF with CRBF remains unclear.Here,a two-year field experiment investigated the effects of two fertilizer types(normal urea(U)and CRBF)and two single-time fertilization methods(broadcast and side-deep fertilization)on the soil N distribution,plant N uptake,root characteristics,grain yield,and NUE.The results showed that CRBF under STF increased the averages of plant dry matter accumulation,N uptake,grain yield,nitrogen recovery efficiency(NRE),and nitrogen agronomic efficiency(NAE)by 8.29,21.85,10.57,79.28,and 74.8%compared to the other treatments,respectively.Side-deep fertilization with CRBF further increased NUE by 12.78%compared to broadcast.Moreover,CRBF under STF increased the leaf SPAD value and glutamine synthetase(GS)/glutamine oxoglutarate aminotransferase(GOGAT)activity by 5.93 and 25.58%,respectively.CRBF under STF increased the soil inorganic N concentration and showed a“rising early and stabilizing later”pattern.In addition,CRBF under STF improved rice root growth and increased the averages of root biomass,total root number,root average diameter,total root length,total root surface area,and total root volume by 28.30,28.56,18.64,13.38,35.26,and 37.06%,respectively,at the tillering and heading stages.Partial least squares path modeling indicated that CRBF under STF increased the soil inorganic N concentration which improved root morphology,thereby increasing N uptake and improving the rice yield and NUE.Taken together,our findings show that CRBF with single-time fertilization is the preferred N fertilizer strategy for achieving high yield and efficiency in rice,and that side-deep fertilization is the optimal fertilization method. 展开更多
关键词 yield nitrogen use efficiency controlled release blended fertilizer soil nitrogen distribution root
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Kinetically controlled Np(Ⅵ)/Pu(Ⅳ) selective reduction by n-butyraldehyde 认领 引用 被引量：1
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作者 Xiaobo Li Qunyan Wu +3 位作者 Congzhi Wang Jianhui Lan Meng Zhang Weiqun Shi 《Chinese Chemical Letters》 SCIE CAS CSCD 2026年第2期430-436,共7页
The demand for 238Pu (nuclear battery heat source) drives the separation of its precursor,237Np,from spent nuclear fuel (SNF).However,the co-existence of multi-valence states (Ⅳ/Ⅴ/Ⅵ) of Np and similar redox b... The demand for 238Pu (nuclear battery heat source) drives the separation of its precursor,237Np,from spent nuclear fuel (SNF).However,the co-existence of multi-valence states (Ⅳ/Ⅴ/Ⅵ) of Np and similar redox behavior with Pu(Ⅳ) hinder the effective separation of Np.N-Butyraldehyde (n-C3H7CHO) selectively reduces Np(Ⅵ) to Np(Ⅴ) without reducing Pu(Ⅳ).Herein,we examined the reduction mechanisms of Np(Ⅵ) and Pu(Ⅳ) by n-C3H7CHO using relativistic density functional theory.Based on the results of the potential energy profiles,the reductions of both Np(Ⅵ) and Pu(Ⅳ) by n-C3H7CHO are thermodynamically feasible,whereas only the former is kinetically achievable.It uncovers that n-C3H7CHO can only reduce Np(Ⅵ) to Np(Ⅴ) owing to kinetically controlled selective reduction.The analyses of spin density and bond distance indicate that the reduction nature for the first Np(Ⅵ)/Pu(Ⅳ) belongs to hydrogen atom transfer,whereas that for the second one involves outer-sphere electron transfer.Localized molecular orbitals (LMOs) analysis discloses the bonding evolution during the reduction process of Np(Ⅵ)/Pu(Ⅳ).This study elucidates the reason behind the kinetically controlled selective reduction of Np(Ⅵ)/Pu(Ⅳ) by nC3H7CHO at the molecular level and offers in-depth perspectives on the isolation of specific metal ions from the view of kinetic control. 展开更多
关键词 Neptunium Plutonium Reduction Density functional theory Kinetic control
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Yaw stabilization and maneuvering control of tailless flying wing by co-directional fluidic thrust vectoring 认领 引用 被引量：1
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作者 Liu ZHANG Meng HE 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2026年第1期66-77,共12页
Fluidic Thrust Vectoring(FTV)is used for the yaw attitude control of tailless flying wing,which can significantly improve stealth performance,maneuverability and lateral/heading maneuverability.The FTV control scheme ... Fluidic Thrust Vectoring(FTV)is used for the yaw attitude control of tailless flying wing,which can significantly improve stealth performance,maneuverability and lateral/heading maneuverability.The FTV control scheme of co-directional secondary flow was designed based on a 30 kgf thrust turbojet engine,an equivalent rudder deflection control variable of Mass Flow Combination(MFC)was proposed,and a control model was established to form a FTV control system scheme,which was integrated with the flight control system of a 100 kg tailless flying wing with medium aspect ratio to achieve closed-loop control of the yaw attitude based on FTV.The heading stability augmentation and maneuvering control characteristics and time response characteristics of tailless flying wing by FTV were quantitatively studied through virtual flight test in a wind tunnel at a wind speed of 35 m/s.The results show that the control strategy based on MFC achieves bidirectional continuous and stable control of thrust vector angle in a range of±11°,and the thrust vector angle varies monotonically with MFC;the co-directional FTV realizes bidirectional continuous and stable control of the yaw attitude of tailless flying wing,without longitudinal/lateral coupling moment.The increment of the maximum yawing moment coefficient is 0.0029,the maximum yaw rate is 7.55(°)/s,and the response time of the yaw rate of the vectoring nozzle actuated by the secondary flow is about 0.06 s,which satisfies the heading stability augmentation and maneuvering control response requirements of the aircraft with statically unstable heading,and provides new control means for the heading rudderless attitude control of tailless flying wing. 展开更多
关键词 Thrust vectoring Flow control Coanda effect Flying-wing aircraft Flight tests Yaw control
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Finite-Time Sliding-Mode Control for Semi-Markov Systems With Delayed Impulses 认领 引用 被引量：1
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作者 Fangmin Ren Xiaoping Wang +1 位作者 Yangmin Li Zhigang Zeng 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2026年第3期740-742,共3页
Dear Editor,This letter concerns the design of sliding mode control(SMC)for semi-Markov switching systems with time-varying transmission and impulse delay.The difficulties of this problem are:1)Time-varying transmissi... Dear Editor,This letter concerns the design of sliding mode control(SMC)for semi-Markov switching systems with time-varying transmission and impulse delay.The difficulties of this problem are:1)Time-varying transmission and impulse delay bring more nonlinear dynamic characteristics and lag effects;2)Semi-Markov mode switching introduces uncertainty;3)The reachable stage and sliding stage are affected by two types of impulses in the system,which increases the complexity of theoretical derivation. 展开更多
关键词 finite time sliding mode control sliding mode control smc semi Markov systems lag effects semi markov reachable stage sliding stage theoretical derivation impulse delay time varying transmission
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