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Zhirui Zhao,Lina Hao,Mingfang Liu,Haoze Gao,Xing Li 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.7
This paper focuses on the trajectory tracking issue of the pneumatic artificial muscle (PAM) exoskeleton system. First of all, a new type of the PAM elbow exoskeleton was introduced to assist wearers in elbow flexion/extension movement. Moreover, a model-free adaptive control approach was combined with the prescribed performance control to ensure the tracking errors to be converged to the predefined requirements. Meanwhile, to suffer the influence of the unknown external disturbance on the exoskeleton, a terminal sliding mode control was adopted to reduce the tracking errors. From a theoretical perspective, the stability of the proposed controller can be proved by Lyapunov synthesis. After two sets of experiments, the proposed control method can further improve the tracking accuracy in the PAM elbow exoskeleton, compared with the other three model-free adaptive control methods. Simultaneously, the maximum absolute value of the tracking errors never exceeded the designed boundary.
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Zhao Jujun,Wang Zhirui 부경대학교 글로벌지역학연구소 2019 Journal of Global and Area Studies(JGA) Vol.3 No.2
As the region with the most serious air pollution in China, Hebei Province, which is close to Beijing, is facing stringent environmental regulation. In face of the continuous pressure from the central government, most areas in Hebei Province, represented by Handan City, have carried out high-intensity campaign-style environmental governance. However, Chengde City, which is also in Hebei Province, adopted different strategies. In order to explain the differences, this paper constructs a resource mobilization framework for the campaign-style governance, namely “control-incentive-negotiation” framework. The framework is tested by taking the air pollution regulation in Handan and Chengde in 2017-2018 as examples. The study found that despite the unprecedentedly strengthened authority of the central government since the 18th CCP National Congress, under the combined effect of theater politics, differentiated incentives and implicit negotiation, if a region faces too many political tasks, the local government will choose the operations and policies that are the most beneficial for itself. The research results is helpful to understand the campaign-style environmental governance in China, as well as the vertical intergovernmental relations.
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