A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer ...A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.展开更多
The problem of controlling a single-input-single-output plant without prior knowledge of high frequency gain sign is addressed by using the model reference robust control approach.A switching method is proposed based ...The problem of controlling a single-input-single-output plant without prior knowledge of high frequency gain sign is addressed by using the model reference robust control approach.A switching method is proposed based on a monitoring function so that after a finite number of swi- tchings the tracking error converges to zero exponentially.Furthermore,it is shown that if some initial states of the closed-loop system are zero,only one switching is needed.展开更多
Microstrip transmission lines connecting to the millimeter wave radar chip and antenna significantly affect the radiation efficiency and bandwidth of the antenna.Here,a wideband non-uniform wavy microstrip line for co...Microstrip transmission lines connecting to the millimeter wave radar chip and antenna significantly affect the radiation efficiency and bandwidth of the antenna.Here,a wideband non-uniform wavy microstrip line for complex impedance in automotive radar frequency range is proposed.Unlike the gradient transmission line,the wavy structure is composed of periodically semi-circular segments.By adjusting the radius of the semi-circular,the surface current is varied and concentrated on the semi-circular segments,allowing a wider tunability range of the resonant frequency.The results reveal that the bandwidth of the loaded wavy transmission line antenna improves to 9.37 GHz,which is 5.81 GHz wider than that of the loaded gradient line.The gain and the half power beam width of the loaded antenna are about 14.69 dB and 9.58°,respectively.The proposed non-uniform microstrip line scheme may open up a route for realizing wideband millimeter-wave automotive radar applications.展开更多
基金Projects(61004008,51509055)supported by the National Natural Science Foundation of ChinaProject(61422230302162223013)supported by the Laboratory of Science and Technology on Water Jet Propulsion,China
文摘A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and parameters.In the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are required.The control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system robustness.The control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.
基金Supported by National Natural Science Foundation of P.R.China(60174001)National Natural Science Foundation of Beijing(4022007)
文摘The problem of controlling a single-input-single-output plant without prior knowledge of high frequency gain sign is addressed by using the model reference robust control approach.A switching method is proposed based on a monitoring function so that after a finite number of swi- tchings the tracking error converges to zero exponentially.Furthermore,it is shown that if some initial states of the closed-loop system are zero,only one switching is needed.
基金Supported by the National Natural Science Foundation of China( 61974104)。
文摘Microstrip transmission lines connecting to the millimeter wave radar chip and antenna significantly affect the radiation efficiency and bandwidth of the antenna.Here,a wideband non-uniform wavy microstrip line for complex impedance in automotive radar frequency range is proposed.Unlike the gradient transmission line,the wavy structure is composed of periodically semi-circular segments.By adjusting the radius of the semi-circular,the surface current is varied and concentrated on the semi-circular segments,allowing a wider tunability range of the resonant frequency.The results reveal that the bandwidth of the loaded wavy transmission line antenna improves to 9.37 GHz,which is 5.81 GHz wider than that of the loaded gradient line.The gain and the half power beam width of the loaded antenna are about 14.69 dB and 9.58°,respectively.The proposed non-uniform microstrip line scheme may open up a route for realizing wideband millimeter-wave automotive radar applications.
