In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent v...In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.展开更多
An electrogastrogram （EGG） is a recording of the electrical activity in the stomach, as measured on the abdominal surface. In this study, the goal is to obtain a mathematical model of an EGG; to achieve this, the EG...An electrogastrogram （EGG） is a recording of the electrical activity in the stomach, as measured on the abdominal surface. In this study, the goal is to obtain a mathematical model of an EGG; to achieve this, the EGG of 14 subjects （seven males and seven females） will be obtained. Initially, the Wayland algorithm to the EGG to measure the degree of determinism is applied. However, it could not be determined whether the EGG could be generated by a chaotic process. In addition, the waveform of the electric potential in the interstitial cells of Cajal is similar to the graphs of the numerical solutions to the Van der Pol equation. Therefore, the Van der Pol equation to a periodic function was added, and random white noise was used to represent the intestinal motility and other biosignals. The EGG and numerical solutions were compared and evaluated on the basis of the translation error （Etrans） in the Wayland algorithm and the maximum Lyapunov exponent （2） in Rosenstein＇s algorithm. By projecting the data from an obtained stationary EGG from the subjects, along with the numerical solutions, onto the Etrans-λ plane, the affinity between them was qualitatively evaluated. The EGG was well described by stochastic resonance from the stochastic differential equations.展开更多
The fundamental problem of an elastic-plastic body subjected to incremental loading is reviewed using a compact internal variable approach based on work carried out at the University of Cape Town in which a quadratic ...The fundamental problem of an elastic-plastic body subjected to incremental loading is reviewed using a compact internal variable approach based on work carried out at the University of Cape Town in which a quadratic functional was developed for the free energy using Taylor series. Now the departure from that approach is the focus on developing the Liapunov function for the nonlinear differential equations of motion. Static and dynamic equations of motion are derived and shown to meet the requirements of the Liapunov function. As a consequence, time integration parameters that are used in the discrete formulations are easily obtained based on the same requirements. The resulting generalized Newton-Raphson scheme is stable in the sense of Liapunov＇s direct method.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.10772152)
文摘In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slid angle are fast.
文摘An electrogastrogram （EGG） is a recording of the electrical activity in the stomach, as measured on the abdominal surface. In this study, the goal is to obtain a mathematical model of an EGG; to achieve this, the EGG of 14 subjects （seven males and seven females） will be obtained. Initially, the Wayland algorithm to the EGG to measure the degree of determinism is applied. However, it could not be determined whether the EGG could be generated by a chaotic process. In addition, the waveform of the electric potential in the interstitial cells of Cajal is similar to the graphs of the numerical solutions to the Van der Pol equation. Therefore, the Van der Pol equation to a periodic function was added, and random white noise was used to represent the intestinal motility and other biosignals. The EGG and numerical solutions were compared and evaluated on the basis of the translation error （Etrans） in the Wayland algorithm and the maximum Lyapunov exponent （2） in Rosenstein＇s algorithm. By projecting the data from an obtained stationary EGG from the subjects, along with the numerical solutions, onto the Etrans-λ plane, the affinity between them was qualitatively evaluated. The EGG was well described by stochastic resonance from the stochastic differential equations.
文摘The fundamental problem of an elastic-plastic body subjected to incremental loading is reviewed using a compact internal variable approach based on work carried out at the University of Cape Town in which a quadratic functional was developed for the free energy using Taylor series. Now the departure from that approach is the focus on developing the Liapunov function for the nonlinear differential equations of motion. Static and dynamic equations of motion are derived and shown to meet the requirements of the Liapunov function. As a consequence, time integration parameters that are used in the discrete formulations are easily obtained based on the same requirements. The resulting generalized Newton-Raphson scheme is stable in the sense of Liapunov＇s direct method.
