The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a nove...The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.展开更多
Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and repr...Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.展开更多
A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure ass...A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.展开更多
The problem of the robust D-stability analysis for linear systems with parametric uncertainties is addressed. For matrix polytopes, new conditions via the affine parameter-dependent Lyapunov function of uncertain syst...The problem of the robust D-stability analysis for linear systems with parametric uncertainties is addressed. For matrix polytopes, new conditions via the affine parameter-dependent Lyapunov function of uncertain systems are developed with the benefit of the scalar multi-convex function. To be convenient for applications, such conditions are simplified into new linear matrix inequality （LMI） conditions, which can be solved by the powerful LMI toolbox. Numerical examples are provided to indicate that this new approach is less conservative than previous results for Hurwitz stability, Schur stability and D-stability of uncertain systems under certain circumstances.展开更多
The problem of robust L 1 filtering with pole constraint in a disk for linear continuous polytopic uncertain systems is discussed. The attention is focused on design a linear asymptotically stable filter such that th...The problem of robust L 1 filtering with pole constraint in a disk for linear continuous polytopic uncertain systems is discussed. The attention is focused on design a linear asymptotically stable filter such that the filtering error system remains robustly stable, and has a L 1 performance constraint and pole constraint in a disk. The new robust L 1 performance criteria and regional pole placement condition are obtained via parameter-dependent Lyapunov functions method. Upon the proposed multiobjective performance criteria and by means of LMI technique, both full-order and reduced-order robust L 1 filter with suitable dynamic behavior can be obtained from the solution of convex optimization problems. Compared with earlier result in the quadratic framework, this approach turns out to be less conservative. The efficiency of the proposed technique is demonstrated by a numerical example.展开更多
The thermal power boiler-turbine system is a complex system with high nonlinearity,time-delay and strong coupling.It is difi cult to obtain an excellent dynamic response by means of traditional PI/PID control when the...The thermal power boiler-turbine system is a complex system with high nonlinearity,time-delay and strong coupling.It is difi cult to obtain an excellent dynamic response by means of traditional PI/PID control when the power system load changes in a wide range.So far many advanced control strategies have been presented to solve the above problem,but most of these strategies are dependent on an accurate object model.展开更多
基金Fundamental Research Funds for the Central Universities(2024JBZX038)National Natural Science F oundation of China(62076023)。
文摘The rapid evolution of unmanned aerial vehicle(UAV)technology and autonomous capabilities has positioned UAV as promising last-mile delivery means.Vehicle and onboard UAV collaborative delivery is introduced as a novel delivery mode.Spatiotemporal collaboration,along with energy consumption with payload and wind conditions play important roles in delivery route planning.This paper introduces the traveling salesman problem with time window and onboard UAV(TSPTWOUAV)and emphasizes the consideration of real-world scenarios,focusing on time collaboration and energy consumption with wind and payload.To address this,a mixed integer linear programming(MILP)model is formulated to minimize the energy consumption costs of vehicle and UAV.Furthermore,an adaptive large neighborhood search(ALNS)algorithm is applied to identify high-quality solutions efficiently.The effectiveness of the proposed model and algorithm is validated through numerical tests on real geographic instances and sensitivity analysis of key parameters is conducted.
文摘Modelling and simulation of projectile flight is at the core of ballistic computer software and is essential to the study of performance of rifles and projectiles in various engagement conditions.An effective and representative numerical model of projectile flight requires a relatively good approximation of the aerodynamics.The aerodynamic coefficients of the projectile model should be described as a series of piecewise polynomial functions of the Mach number that ideally meet the following conditions:they are continuous,differentiable at least once,and have a relatively low degree.The paper provides the steps needed to generate such piecewise polynomial functions using readily available tools,and then compares Piecewise Cubic Hermite Interpolating Polynomial(PCHIP),cubic splines,and piecewise linear functions,and their variant,as potential curve fitting methods to approximate the aerodynamics of a generic small arms projectile.A key contribution of the paper is the application of PCHIP to the approximation of projectile aerodynamics,and its evaluation against a set of criteria.Finally,the paper provides a baseline assessment of the impact of the polynomial functions on flight trajectory predictions obtained with 6-degree-of-freedom simulations of a generic projectile.
文摘A simple method for disturbance decoupling for matrix second-order linear systems is proposed directly in matrix second-order framework via Luenberger function observers based on complete parametric eigenstructure assignment. By introducing the H2 norm of the transfer function from disturbance to estimation error, sufficient and necessary conditions for disturbance decoupling in matrix second-order linear systems are established and are arranged into constraints on the design parameters via Luenberger function observers in terms of the closed-loop eigenvalues and the group of design parameters provided by the eigenstructure assignment approach. Therefore, the disturbance decoupling problem is converted into an eigenstructure assignment problem with extra parameter constraints. A simple example is investigated to show the effect and simplicity of the approach.
基金supported by the National Natural Science Foundation of China (6090405161021002)
文摘The problem of the robust D-stability analysis for linear systems with parametric uncertainties is addressed. For matrix polytopes, new conditions via the affine parameter-dependent Lyapunov function of uncertain systems are developed with the benefit of the scalar multi-convex function. To be convenient for applications, such conditions are simplified into new linear matrix inequality （LMI） conditions, which can be solved by the powerful LMI toolbox. Numerical examples are provided to indicate that this new approach is less conservative than previous results for Hurwitz stability, Schur stability and D-stability of uncertain systems under certain circumstances.
文摘The problem of robust L 1 filtering with pole constraint in a disk for linear continuous polytopic uncertain systems is discussed. The attention is focused on design a linear asymptotically stable filter such that the filtering error system remains robustly stable, and has a L 1 performance constraint and pole constraint in a disk. The new robust L 1 performance criteria and regional pole placement condition are obtained via parameter-dependent Lyapunov functions method. Upon the proposed multiobjective performance criteria and by means of LMI technique, both full-order and reduced-order robust L 1 filter with suitable dynamic behavior can be obtained from the solution of convex optimization problems. Compared with earlier result in the quadratic framework, this approach turns out to be less conservative. The efficiency of the proposed technique is demonstrated by a numerical example.
文摘The thermal power boiler-turbine system is a complex system with high nonlinearity,time-delay and strong coupling.It is difi cult to obtain an excellent dynamic response by means of traditional PI/PID control when the power system load changes in a wide range.So far many advanced control strategies have been presented to solve the above problem,but most of these strategies are dependent on an accurate object model.
