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- 저자 : Xiaoqi Qiu (검색결과 2 건)
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Dynamics and Adaptive Sliding Mode Control of a Mass-Actuated Fixed-Wing UAV
Xiaoqi Qiu,Mingen Zhang,Wuxing Jing,Changsheng Gao 한국항공우주학회 2021 International Journal of Aeronautical and Space Sc Vol.22 No.4
Compared with UAVs controlled by aerodynamic surfaces, mass-actuated UAVs have higher aerodynamic efficiency and better stealth performance. This paper focuses on the dynamics and attitude control of a mass-actuated fixed-wing UAV (MFUAV) with an internal slider. Based on the derived mathematical model of the MFUAV, the influence of the slider parameters on the dynamical behavior is analyzed, and the ideal installation position of the slider is given. Besides, it is revealed that the mass-actuated scheme has a higher control efficiency for low-speed UAVs. To deal with the coupling, uncertainty and disturbances in the dynamics, an adaptive sliding mode controller based on fuzzy system, RBF neural network and sliding mode control are proposed. The RBF neural network uses the minimum parameter learning method to improve its learning speed. It is proved by the Lyapunov method that the proposed controller is ultimately uniformly bounded. Finally, the simulation verifies the effectiveness and robustness of the controller.
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Changjian Qiu,Yuan Feng,Yajing Meng,Wei Liao,Xiaoqi Huang,Su Lui,Chunyan Zhu,Huafu Chen,Qiyong Gong,Wei Zhang 대한신경정신의학회 2015 PSYCHIATRY INVESTIGATION Vol.12 No.3
ObjectiveaaWe hypothesize that the amplitude of low-frequency fluctuations (ALFF) is involved in the altered regional baseline brain function in social anxiety disorder (SAD). The aim of the study was to analyze the altered baseline brain activity in drug-naive adult patients with SAD. MethodsaaWe investigated spontaneous and baseline brain activities by obtaining the resting-state functional magnetic resonance imaging data of 20 drug-naïve adult SAD patients and 19 healthy controls. Voxels were used to analyze the ALFF values using one- and two-sample t-tests. A post-hoc correlation of clinical symptoms was also performed. ResultsaaOur findings show decreased ALFF in the bilateral insula, left medial superior frontal gyrus, left precuneus, left middle temporal gyrus, right middle temporal pole, and left fusiform gyrus of the SAD group. The SAD patients exhibited significantly increased ALFF in the right inferior temporal gyrus, right middle temporal gyrus, bilateral middle occipital gyrus, orbital superior frontal gyrus, right fusiform gyrus, right medial superior frontal gyrus, and left parahippocampal gyrus. Moreover, the Liebowitz Social Anxiety Scale results for the SAD patients were positively correlated with the mean Z values of the right middle occipital and right inferior occipital but showed a negative correlation with the mean Z values of the right superior temporal gyrus and right medial superior frontal gyrus. ConclusionaaThese results of the altered regional baseline brain function in SAD suggest that the regions with abnormal spontaneous activities are involved in the underlying pathophysiology of SAD patients.
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