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Collision-Free Adaptive Control for UAV Formation with Input Saturation and Communication Delays
Jianhui Lu,Fan Luo,Zhong Zheng,Mingxin Hou,Lin Wang 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.3
This paper addresses the collision-free adaptive formation control problem for multiple unmanned aerial vehicles subject to input saturation and communication delays. First, a novel collision-free adaptive saturated control scheme is proposed using potential function and anti-windup compensator approaches. It shows that the velocity consensus and collision avoidance are realized when the directed communication topology is strongly connected. Second, the collision-free adaptive saturated control algorithm is proposed considering communication delays and collision avoidance, and it enables the asymptotic stability of the closed-loop system when the time-varying communication delays are decreasing to zero eventually. Finally, numerical simulations demonstrate that the proposed control approaches are effective, while the objectives of collision avoidance and velocity consensus are fulfilled.
Gao, Bowei,Yao, Huifeng,Jang, Bomee,Zhu, Jie,Yu, Runnan,Cui, Yong,Wang, Fenghao,Hou, Junxian,Woo, Han Young,Hou, Jianhui The Royal Society of Chemistry 2018 Journal of Materials Chemistry A Vol.6 No.6
<P>Here, the crucial role of intermolecular π-π interactions in A-D-A-type acceptors is examined and a simple yet effective modulation method is presented. By side chain manipulation, two small molecule acceptors, IDT-C6 and IDT-PhC6, are designed and synthesized with different crystalline morphologies. Since <I>n</I>-hexyl side chains have less steric hindrance than hexylphenyl side chains, IDT-C6 exhibits enhanced intermolecular π-π interactions relative to IDT-PhC6. Benefiting from the improved charge transport properties of the IDT-C6-based device, a high PCE of 12.5% is recorded, whereas those of the IDT-PhC6-based device delivers a moderate PCE of just 5.6%.</P>
Liu, Delong,Yang, Bei,Jang, Bomee,Xu, Bowei,Zhang, Shaoqing,He, Chang,Woo, Han Young,Hou, Jianhui The Royal Society of Chemistry 2017 ENERGY AND ENVIRONMENTAL SCIENCE Vol.10 No.2
<P>Two p-type conjugated polymers with disparate optical and electronic properties, PB3T and PB2T, were developed and applied in fullerene-free polymer solar cells (PSCs). The photovoltaic performance of the PB3T-based PSC device processed by anisole achieved a high power conversion efficiency of 11.9% with a <I>J</I>sc of 18.8 mA cm<SUP>−2</SUP> and <I>V</I>oc of 1.00 V.</P>
Zhang, Shaoqing,Qin, Yunpeng,Uddin, Mohammad Afsar,Jang, Bomee,Zhao, Wenchao,Liu, Delong,Woo, Han Young,Hou, Jianhui American Chemical Society 2016 Macromolecules Vol.49 No.8
<P>Here, taking a polythiophene derivative (PBDD4T) as a starting polymer, we tried to increase the rotation barrier and hence stabilize its backbone conformation by introducing fluorine into the beta and beta'-position of the alpha-linked bithiophene segments and then synthesized a new polymer named as PBDD4T-2F. Our results demonstrate that the rotation barrier between the a-linked bithiophene significantly increases after the fluorination, so PBDD4T-2F has a more stable backbone conformation than PBDD4T. Compared to PBDD4T, PBDD4T-2F shows stronger aggregation effect in solution state and more compact pi-pi stacking in solid thin film and also possesses deeper HOMO level. These properties make PBDD4T-2F being an ideal donor material in PSCs. When blended with PC71BM, a fullerene acceptor, the PBDD4T-2F-based device showed a power conversion efficiency (PCE) of 9.04%, which is 38% higher than that of the PBDD4T-based device; when blended with ITIC, a non-fullerene acceptor, the PBDD4T-2F-based device showed a PCE of 8.69%, which is almost 20 times higher than that of the PBDD4T-based device. What is more, the tandem cell, in which the blend of PBDD4T-2F:PC61BM was used for making the front subcell, exhibited a high PCE of 10.12%. The photovoltaic results indicate that the fluorination is an effective method to enhance interchain pi-pi interaction for the polythiophene and hence to tune its photovoltaic properties in PSCs, especially for the fullerene-free device based on ITIC.</P>