This paper investigates the heading tracking problem of surface vehicles with unknown model parameters.Based on finite/fixed-time control theories and in the context of command filtered control,two novel adaptive cont...This paper investigates the heading tracking problem of surface vehicles with unknown model parameters.Based on finite/fixed-time control theories and in the context of command filtered control,two novel adaptive control laws are developed by which the vehicle can track the desired heading within settling time with all signals of the closed-loop system are uniformly bounded.The effectiveness and performance of the schemes are demonstrated by simulations and comparison studies.展开更多
While several studies have documented the large-scale, seasonal movements of horseshoe crabs, little is known about their fine-scale, daily movement patterns. In this study we used a fixed array ultrasonic telemetry s...While several studies have documented the large-scale, seasonal movements of horseshoe crabs, little is known about their fine-scale, daily movement patterns. In this study we used a fixed array ultrasonic telemetry system to track the movements of 12 male and 16 female horseshoe crabs in the Great Bay estuary, New Hampshire. Data were obtained during the mating season, as well as during the remainder of the summer and fall, in the years 2005-2008. During the mating season animals were often, but not always, active during the high tides when they were approaching and leaving the spawning beaches. On average, both males and females approached mating beaches during 33% of the high tides they experienced and they most often made the tran- sition from being inactive to active during the last two hours of an incoming tide. From April-October horseshoe crabs were significantly more active during high tide periods vs low tide periods, with no clear preference for diurnal vs nocturnal activity. After the mating season ended horseshoe crabs continued to move into shallower water at high tide and then return to deeper water at low tide. Observations by SCUBA divers suggest that during these excursions into the mudflats horseshoe crabs were digging pits in the sediment while foraging for food. Thus, the tidal rhythm of activity that has been so well documented during the mating season probably persists into the fall, and primarily involves foraging activities展开更多
The envelope of a hypersonic vehicle is affected by severe fluctuating pressure, which causes the airborne antenna to vibrate slightly. This vibration mixes with the transmitted signals and thus introduces additional ...The envelope of a hypersonic vehicle is affected by severe fluctuating pressure, which causes the airborne antenna to vibrate slightly. This vibration mixes with the transmitted signals and thus introduces additional multiplicative phase noise. Antenna vibration and signal coupling effects as well as their influence on the lock threshold of the hypersonic vehicle carrier tracking system of the Ka band are investigated in this study. A vibration model is initially established to obtain phase noise in consideration of the inherent relationship between vibration displacement and electromagnetic wavelength. An analytical model of the Phase-Locked Loop（PLL）, which is widely used in carrier tracking systems, is established. The coupling effects on carrier tracking performance are investigated and quantitatively analyzed by imposing the multiplicative phase noise on the PLL model. Simulation results show that the phase noise presents a Gaussian distribution and is similar to vibration displacement variation. A large standard deviation in vibration displacement exerts a significant effect on the lock threshold. A critical standard deviation is observed in the PLL of Binary Phase Shift Keying（BPSK） and Quadrature Phase Shift Keying（QPSK） signals. The effect on QPSK signals is more severe than that on BPSK signals. The maximum tolerable standard deviations normalized by the wavelength of the carrier are 0.04 and 0.02 for BPSK and QPSK signals,respectively. With these critical standard deviations, lock thresholds are increased from à12 andà4 d B to 3 and à2 d B, respectively.展开更多
Command governor–based adaptive control(CGAC)is a recent control strategy that has been explored as a possible candidate for the challenging task of precise maneuvering of unmanned underwater vehicles(UUVs)with param...Command governor–based adaptive control(CGAC)is a recent control strategy that has been explored as a possible candidate for the challenging task of precise maneuvering of unmanned underwater vehicles(UUVs)with parameter variations.CGAC is derived from standard model reference adaptive control(MRAC)by adding a command governor that guarantees acceptable transient performance without compromising stability and a command filter that improves the robustness against noise and time delay.Although simulation and experimental studies have shown substantial overall performance improvements of CGAC over MRAC for UUVs,it has also shown that the command filter leads to a marked reduction in initial tracking performance of CGAC.As a solution,this paper proposes the replacement of the command filter by a weight filter to improve the initial tracking performance without compromising robustness and the addition of a closed-loop state predictor to further improve the overall tracking performance.The new modified CGAC(M-CGAC)has been experimentally validated and the results indicate that it successfully mitigates the initial tracking performance reduction,significantly improves the overall tracking performance,uses less control force,and increases the robustness to noise and time delay.Thus,M-CGAC is a viable adaptive control algorithm for current and future UUV applications.展开更多
The tracking, telemetry and command （TT＆C） mission is extremely reliable for its characters of small time horizon and high redundancy. The combined forcing and failure biasing （CFFB） method that is usually used f...The tracking, telemetry and command （TT＆C） mission is extremely reliable for its characters of small time horizon and high redundancy. The combined forcing and failure biasing （CFFB） method that is usually used for simulating the unreliability of the highly dependable mission system seems not so efficient for the TT＆C mission. The concept about the importance of failure transition is proposed based on the logical relationship between TT＆C mission and its involved resources. Then, the importance is used for readjusting the transition rate of the failure transition when using the forcing and failure biasing during the simulation. Examples show that the improved CFFB method can evidently increase the occurrence of the TT＆C mission failure event and decrease the sample variance. More redundancy of the TT＆C mission leads to the improved CFFB method more efficient.展开更多
基金supported by the National Natural Science Foundation of China(U1808205)the Fundamental Research Funds for the Central Universities(N2023011)+1 种基金the Youth Foundation of Hebei Educational Committee(QN2020522)the Natural Science Foundation of Hebei Province(F2020501018)。
文摘This paper investigates the heading tracking problem of surface vehicles with unknown model parameters.Based on finite/fixed-time control theories and in the context of command filtered control,two novel adaptive control laws are developed by which the vehicle can track the desired heading within settling time with all signals of the closed-loop system are uniformly bounded.The effectiveness and performance of the schemes are demonstrated by simulations and comparison studies.
基金supported by NSF IOB 0517229 and NSF IOS 0920342 grants to WHW Ⅲ and CCC
文摘While several studies have documented the large-scale, seasonal movements of horseshoe crabs, little is known about their fine-scale, daily movement patterns. In this study we used a fixed array ultrasonic telemetry system to track the movements of 12 male and 16 female horseshoe crabs in the Great Bay estuary, New Hampshire. Data were obtained during the mating season, as well as during the remainder of the summer and fall, in the years 2005-2008. During the mating season animals were often, but not always, active during the high tides when they were approaching and leaving the spawning beaches. On average, both males and females approached mating beaches during 33% of the high tides they experienced and they most often made the tran- sition from being inactive to active during the last two hours of an incoming tide. From April-October horseshoe crabs were significantly more active during high tide periods vs low tide periods, with no clear preference for diurnal vs nocturnal activity. After the mating season ended horseshoe crabs continued to move into shallower water at high tide and then return to deeper water at low tide. Observations by SCUBA divers suggest that during these excursions into the mudflats horseshoe crabs were digging pits in the sediment while foraging for food. Thus, the tidal rhythm of activity that has been so well documented during the mating season probably persists into the fall, and primarily involves foraging activities
基金co-supported by the National Basic Research Program of China (No. 2014CB340205)the Natural Science Foundation of Shaanxi Provincial Department of Education (No. 2016JM6016)the National Natural Science Foundation of China (No. 61473228)
文摘The envelope of a hypersonic vehicle is affected by severe fluctuating pressure, which causes the airborne antenna to vibrate slightly. This vibration mixes with the transmitted signals and thus introduces additional multiplicative phase noise. Antenna vibration and signal coupling effects as well as their influence on the lock threshold of the hypersonic vehicle carrier tracking system of the Ka band are investigated in this study. A vibration model is initially established to obtain phase noise in consideration of the inherent relationship between vibration displacement and electromagnetic wavelength. An analytical model of the Phase-Locked Loop（PLL）, which is widely used in carrier tracking systems, is established. The coupling effects on carrier tracking performance are investigated and quantitatively analyzed by imposing the multiplicative phase noise on the PLL model. Simulation results show that the phase noise presents a Gaussian distribution and is similar to vibration displacement variation. A large standard deviation in vibration displacement exerts a significant effect on the lock threshold. A critical standard deviation is observed in the PLL of Binary Phase Shift Keying（BPSK） and Quadrature Phase Shift Keying（QPSK） signals. The effect on QPSK signals is more severe than that on BPSK signals. The maximum tolerable standard deviations normalized by the wavelength of the carrier are 0.04 and 0.02 for BPSK and QPSK signals,respectively. With these critical standard deviations, lock thresholds are increased from à12 andà4 d B to 3 and à2 d B, respectively.
文摘Command governor–based adaptive control(CGAC)is a recent control strategy that has been explored as a possible candidate for the challenging task of precise maneuvering of unmanned underwater vehicles(UUVs)with parameter variations.CGAC is derived from standard model reference adaptive control(MRAC)by adding a command governor that guarantees acceptable transient performance without compromising stability and a command filter that improves the robustness against noise and time delay.Although simulation and experimental studies have shown substantial overall performance improvements of CGAC over MRAC for UUVs,it has also shown that the command filter leads to a marked reduction in initial tracking performance of CGAC.As a solution,this paper proposes the replacement of the command filter by a weight filter to improve the initial tracking performance without compromising robustness and the addition of a closed-loop state predictor to further improve the overall tracking performance.The new modified CGAC(M-CGAC)has been experimentally validated and the results indicate that it successfully mitigates the initial tracking performance reduction,significantly improves the overall tracking performance,uses less control force,and increases the robustness to noise and time delay.Thus,M-CGAC is a viable adaptive control algorithm for current and future UUV applications.
基金supported by the National Natural Science Foundation of China (71071159)
文摘The tracking, telemetry and command （TT＆C） mission is extremely reliable for its characters of small time horizon and high redundancy. The combined forcing and failure biasing （CFFB） method that is usually used for simulating the unreliability of the highly dependable mission system seems not so efficient for the TT＆C mission. The concept about the importance of failure transition is proposed based on the logical relationship between TT＆C mission and its involved resources. Then, the importance is used for readjusting the transition rate of the failure transition when using the forcing and failure biasing during the simulation. Examples show that the improved CFFB method can evidently increase the occurrence of the TT＆C mission failure event and decrease the sample variance. More redundancy of the TT＆C mission leads to the improved CFFB method more efficient.
