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Adaptive backstepping repetitive learning control design for nonlinear discrete‐time systems with periodic uncertainties 下载免费PDF全文
Qiao Zhu Jian‐Xin Xu Shiping Yang Guang‐Da Hu 《International Journal of Adaptive Control and Signal Processing》2015,29(4):524-535
This paper addresses a tracking problem for uncertain nonlinear discrete‐time systems in which the uncertainties, including parametric uncertainty and external disturbance, are periodic with known periodicity. Repetitive learning control (RLC) is an effective tool to deal with periodic unknown components. By using the backstepping procedures, an adaptive RLC law with periodic parameter estimation is designed. The overparameterization problem is overcome by postponing the parameter estimation to the last backstepping step, which could not be easily solved in robust adaptive control. It is shown that the proposed adaptive RLC law without overparameterization can guarantee the perfect tracking and boundedness of the states of the whole closed‐loop systems in presence of periodic uncertainties. In addition, the effectiveness of the developed controller is demonstrated by an implementation example on a single‐link flexible‐joint robot. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
83.
Baofeng Hou Hong He Ruixiu Jia Meilong Fu Yanbin Cao Shaoqun He Liwen Luo Youqing Huang 《应用聚合物科学杂志》2019,136(10):47161
The synthesis and performance of a novel temperature-tolerant foamed resin for enhanced oil recovery were investigated using various methods, including infrared, NMR, scanning electron microscopy (SEM), and displacement experiments. Polycondensation of furfuryl alcohol prepolymers was confirmed by the infrared and NMR results. The poor temperature tolerance of furfuryl alcohol prepolymers after gelation at high temperatures is mainly due to the fracture of furan rings. The addition of ester additives is an effective method of increasing the temperature tolerance of the prepared foamed resins and can effectively reduce the weight-loss rate of the polycondensation products. The SEM results show that the skeleton structure of the foamed resin remains intact after high-temperature treatment. Thus, the novel plugging agent system has excellent thermal stability and still has a high strength (>0.8 MPa) after high-temperature aging treatment for 40 days, giving the prepared foamed resin a good plugging performance (plugging rate > 91%) at 250 °C. © 2018 Wiley Periodicals, Inc. J. Appl. Polym. Sci. 2019 , 136, 47161. 相似文献
84.
采用共沉淀法制备了系列Ca-Mg-Al复合氧化物催化剂,通过对沉淀剂配比、沉淀液pH值及焙烧温度等制备条件的考察,得到以Na2CO3为沉淀剂、pH=9.5、850℃下焙烧4h制备的Ca-Mg-Al催化活性最高。在 n(PG)∶n(urea)=1.5∶1、反应温度为145℃、绝压20kPa、反应时间4h、催化剂用量为尿素质量的5%时,碳酸丙烯酯收率达到84.6%。采用XRF、XRD、NH3-TPD、SEM及BET对催化剂的组成、晶型及酸性进行了表征,发现随着沉淀剂中Na2CO3的含量增加,催化剂中CaO∶MgO的比例增大,碳酸丙烯酯的收率亦升高;经850℃焙烧后,催化剂中存在CaO和MgO两种活性中心,起协同催化作用;随着焙烧温度由700℃升高到850℃,NH3-TPD脱附曲线向低温方向偏移,且强酸中心NH3脱附峰面积比由81.14%明显下降为0,中强酸中心NH3脱附峰面积比由0增加到78.07%,而碳酸丙烯酯收率由68%增加到84.6%,这表明催化剂强酸性位的减少是催化活性增加的主要原因。 相似文献
85.
使用气-质联用仪测定餐饮废油生物柴油(WCME)和-10号柴油(-10PD)的组成,使用冷滤点试验器和运动黏度试验器测定WCME的低温流动性,同时使用调合、添加低温流动性改进剂的方法改进WCME的低温流动性。实验结果表明,WCME主要由饱和脂肪酸甲酯和不饱和脂肪酸甲酯组成,质量分数分别为27.63%和71.81%;WCME冷滤点为0℃,运动黏度(40℃)为4.41mm2/s;WCME与-10PD调合后,冷滤点降低,其中B20的冷滤点最低,为-13℃,运动黏度随着WCME的体积分数的减少,逐渐接近-10PD的运动黏度。通过添加低温流动性改进剂,WCME,B10,B20的冷滤点分别从0,-8,-13℃降至-4,-26,-25℃。 相似文献
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87.
应急避难场所广播体系由应急广播、场所广播室、接收端、网络接收、广播管理群、监测系统等6部分组成.针对电台在市区建立应急避难场所广播作出设计,在学校、社区、广场上安装广播系统,做到市区全方面覆盖. 相似文献
88.
Wai-Ching Liu Huey-Yuan Wang Lung-Chien Chen Shih-Wei Huang Chengtie Wu Ren-Jei Chung 《Ceramics International》2019,45(5):5668-5679
Tricalcium silicate (C3S) and hydroxyapatite (HAp) composites were fabricated through the sol-gel process. The aim of this research is to improve the biocompatibility of C3S through HAp addition and study the potential of using this as coating materials. The composites (HAp/C3S) were characterised by Fourier transform infrared spectrometry, thermal gravity-differential thermal analysis and X-ray diffraction. The working and setting times of cement pastes were tested using Gillmore needle. Mechanical properties were examined by nanoindentation and material testing system. In vitro biocompatibility of the materials were studied by cell attachment and viability of L929 and MG-63 cells. HAp/C3S as a coating material on gelatin film were measured with the surface roughness and imaged by scanning electron microscope. With the addition of HAp, no undesirable free CaO was detected with the synthesis by the sol-gel preparation. The pH values of HAp added groups were between 7.54 and 8.76, which were much lower than pure C3S group (pH?=?11.75). For in vitro studies, the presence of HAp could effectively enhance the cell attachment and viability of both L929 and MG-63 cells grown in the extract or directly on the composites. However, the mechanical properties of the composites were impaired as compared to pure C3S. Lastly, HAp/C3S cement could be evenly coated on gelatin film. HAp is successfully demonstrated to improve C3S biocompatibility with this new composites HAp/C3S. C-75 (75% C3S and 25% HAp), in particular, has good biocompatibility, relatively high compressive strength and can be uniformly coated onto gelatin film. Thus, C-75 is a promising material for further investigation as a coating on other biopolymers. 相似文献
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