The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, externa...The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
The IEEE 802.11e standard is proposed to provide QoS support in WLAN by providing prioritized differentiation of traffic. Since all the stations in the same priority access category (AC) have the same set of parameter...The IEEE 802.11e standard is proposed to provide QoS support in WLAN by providing prioritized differentiation of traffic. Since all the stations in the same priority access category (AC) have the same set of parameters, when the number of stations increases, the probability of different stations in the same AC choosing the same values will increase, which will result in collisions. Random adaptive MAC (medium access control) parameters scheme (RAMPS) is proposed, which uses random adaptive MAC differentiation parameters instead of the static ones used in the 802.11e standard. The performance of RAMPS is compared with that of enhanced distributed coordination access (EDCA) using NS2. The results show that RAMPS can reduce collision rate of the AC and improve the throughput by using adaptive random contention window size and inter-frame spacing values. RAMPS ensures that at any given time, several flows of the same priority have different MAC parameter values. By using the random offset for the inter-frame spacing value and the backoff time, RAMPS can provide intra-AC differentiation. The simulation results show that RAMPS outperforms EDCA in terms of both throughput and end-to-end delay irrespective of the traffic load.展开更多
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金Project(60673164) supported by the National Natural Science Foundation of ChinaProject(06JJ10009) supported by the Natural Science Foundation of Hunan Province, China+2 种基金Project(20060533057) supported by the Specialized Research Fund for the Doctoral Program of Higher Education of ChinaProject(2008CB317107) supported by the Major State Basic Research and Development Program of ChinaProject(NCET-05-0683) supported by the Program for New Century Excellent Talents in University
文摘The IEEE 802.11e standard is proposed to provide QoS support in WLAN by providing prioritized differentiation of traffic. Since all the stations in the same priority access category (AC) have the same set of parameters, when the number of stations increases, the probability of different stations in the same AC choosing the same values will increase, which will result in collisions. Random adaptive MAC (medium access control) parameters scheme (RAMPS) is proposed, which uses random adaptive MAC differentiation parameters instead of the static ones used in the 802.11e standard. The performance of RAMPS is compared with that of enhanced distributed coordination access (EDCA) using NS2. The results show that RAMPS can reduce collision rate of the AC and improve the throughput by using adaptive random contention window size and inter-frame spacing values. RAMPS ensures that at any given time, several flows of the same priority have different MAC parameter values. By using the random offset for the inter-frame spacing value and the backoff time, RAMPS can provide intra-AC differentiation. The simulation results show that RAMPS outperforms EDCA in terms of both throughput and end-to-end delay irrespective of the traffic load.
