Formation Control Strategy for Underactuated Unmanned Surface Vehicles Subject to Unknown Dynamics and External Disturbances with Input Saturation

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.11

This paper addresses the formation tracking control problem of multiple underactuated unmanned surface vehicles. Considering many actual situations, a practical formation control scheme, which is performed by using a leader-follower approach, minimum learning parameter technique, adaptive technology and so on. Firstly, a virtual unmanned surface vehicle is designed according to the location information of the leader unmanned surface vehicle to estimate the leader’s speed information while reducing the communication bandwidth. Secondly, a formationcontrol law is designed to make the follower underactuated unmanned surface vehicles track the leader. Unknown dynamics and external disturbances are regarded as a whole and compensated by the minimum learning parameter technique instead of multi-layer neural network and the neural shunt model can handle multiple derivation problems of virtual control laws. Meanwhile, the robustness of the controlled system is improved through adaptive technology. Besides, an auxiliary design system is employed to constrain the output range of the control law. Finally, numerical simulations are implemented to prove the feasibility of the formation tracking control strategy.

Design of Adaptive Neural Tracking Controller for Pod Propulsion Unmanned Vessel Subject to Unknown Dynamics

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 대한전기학회 2017 Journal of Electrical Engineering & Technology Vol.12 No.6

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from “explosion of complexity”, a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of “explosion of complexity”, and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

A Time-Varying Lookahead Distance of ILOS Path Following for Unmanned Surface Vehicle

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 대한전기학회 2020 Journal of Electrical Engineering & Technology Vol.15 No.5

This paper is concerned with the path following control for an unmanned surface vessel subject to unknown dynamics and external disturbance. Firstly, an integral Line-of-Sight navigation strategy based on a fuzzy strategy to optimize lookahead distance to achieve faster convergence speed is proposed. Then a novel adaptive course control law based on trajectory linearization control technology is proposed, which is combined with the integral Line-of-Sight navigation strategy to form a complete unmanned surface vessel path following strategy. From the author’s point of view, this is the fi rst time that trajectory linearization control technology has been applied to the path following scheme by controlling the course. At the same time, in order to improve the robustness of the path following system, the unknown dynamics, external disturbance, and error in the system are compensated by neural network minimum learning parameter method with less computational complexity and a robust term, respectively. Furthermore, hyperbolic tangent function, Nussbaum function, and neural shunting model are introduced into the design of control law to solve the potential input saturation problem. Finally, the numerical simulation experiments of straight line and curve path following are given to prove the feasibility and universality of the whole set of path following scheme.

Sperm-mediated Gene Transfer in the Chinese Honeybee, Apis cerana cerana (Hymenoptera: Apidae)

Guo, Dong-Sheng,Sun, Liang-Xian,Zeng, Zhi-Jiang,Xie, Xian-Bing Korean Society of Applied Entomology 2007 Journal of Asia-Pacific Entomology Vol.10 No.4

Transgenic Apis cerana cerana were produced by sperm-mediated gene transfer (SMGT). In the experiment, the foreign DNA was linearized and introduced with sperm during the instrumental insemination of virgin queen. The descendants of the experimental colonies were analyzed. In the green fluorescent-positive offspring, green fluorescence was observed for 1- to 2-day-old larvae, the predicted fragment was isolated by means of PCR amplification of genomic DNA and the expression of transferred genes was conferred at transcriptional level by reverse transcription-polymerase chain reaction. These results showed that the exogenous gene could be integrated in a traction of the germ line cells of the queen Apis cerana cerana and transmitted to offspring by SMGT.

Tracking Control of Podded Propulsion Unmanned Surface Vehicle with Unknown Dynamics and Disturbance Under Input Saturation

Dong-Dong Mu,Guo-Feng Wang,Yun-Sheng Fan 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4

This paper addresses two interrelated problems concerning the tracking control of podded propulsion unmanned surface vehicle (USV), namely, the modeling of podded propulsion USV, and trajectory tracking controller design. Based on the force analysis, the separation model of podded propulsion USV is established. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network minimum parameter learning method, neural shunting model and auxiliary dynamic system without the exact information of hydrodynamic damping structure and the sea disturbances. Using Lyapunov stability analysis theory, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of podded propulsion USV is demonstrated; then, neural shunting model and neural network minimum parameter learning method are introduced to cope with the problem of "explosion of complexity" and uncertainty factors, respectively; third, auxiliary dynamic system is introduced into controller design to reduce the risk of actuator saturation. Taking into account the above practical problems is helpful to engineering implementation in the marine practice. Finally, numerical simulation has been given to demonstrate the effectiveness of the proposed scheme.

Sperm-mediated Gene Transfer in the Chinese Honeybee, Apis cerana cerana (Hymenoptera: Apidae)

Dong-Sheng Guo,Liang-Xian Sun,Zhi-Jiang Zeng,Xian-Bing Xie 한국응용곤충학회 2007 Journal of Asia-Pacific Entomology Vol.10 No.4

Transgenic Apis cerana cerana were produced by sperm-mediated gene transfer (SMGT). In the experiment, the foreign DNA was linearized and introduced with sperm during the instrumental insemination of virgin queen. The descendants of the experimental colonies were analyzed. In the green fluorescent-positive offspring, green fluorescence was observed for 1- to 2-day-old larvae, the predicted fragment was isolated by means of PCR amplification of genomic DNA and the expression of transferred genes was confirmed at transcriptional level by reverse transcription-polymerase chain reaction. These results showed that the exogenous gene could be integrated in a fraction of the germ line cells of the queen Apis cerana cerana and transmitted to offspring by SMGT.

Design of Adaptive Neural Tracking Controller for Pod Propulsion Unmanned Vessel Subject to Unknown Dynamics

Mu, Dong-Dong,Wang, Guo-Feng,Fan, Yun-Sheng The Korean Institute of Electrical Engineers 2017 Journal of Electrical Engineering & Technology Vol.12 No.6

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from "explosion of complexity", a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of "explosion of complexity", and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

Study on accelerated life tests for main shaft bearings in wind turbines

Sheng Jin,Hanjie Dong,Jie Chen,Xinghui Xie,Mingjun Guo 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.3

This paper focused on a 2.1 MW wind turbine main shaft bearing as the research object and analyzed its reliability under actual working conditions for three years. An accelerated life test for the main shaft bearing in a wind turbine with an amplified load was carried out depending on the reference value of the radial dynamic load rating. The test was conducted for 140 days. The bearing did not show any noticeable damage at the end of the test, which shows that the bearing could be reliable for three years. To prove the correctness of the ALT, a finite element model of the main shaft bearing was created in ABAQUS to obtain the contact stress in both the actual working conditions and the accelerated test conditions. The calculation results were transferred to FE-SAFE to calculate the fatigue life. Finally, a comparison between the theoretical and simulation acceleration factors validated the rationality of the experimental design.

Somatostatin Receptors 3, 4 and 5 Play Important Roles in Gallbladder Cancer

Guo, Run-Sheng,Shi, Pei-Dong,Zhou, Jie,Chen, Yue-Yu Asian Pacific Journal of Cancer Prevention 2013 Asian Pacific journal of cancer prevention Vol.14 No.7

Expression changes of somatostatin receptor subtypes (SSTRs) including SSTR1, SSTR2, SSTR3, SSTR4 and SSTR5 in the development of gallbladder cancer were assessed with attention to relationships with clinical pathological characteristics. SSTRs in 29 gallbladder cancer and 25 normal gallbladder tissue specimens were examined by immunohistochemical staining. Differences between SSTRs expressions and clinical pathological parameters were analyzed by chi-square test. The five subtypes of SSTR were all expressed in gallbladder cancer tissues and SSTR3 presented the highest expression. SSTR5 expression was increased significantly in gallbladder cancer (P<0.05) compared with that in normal gallbladder tissue. SSTR3 expression in highly and moderately differentiated gallbladder cancer was significantly higher than that in poorly differentiated lesions (P<0.05). SSTR4 expression was lower in gallbladder cancer with lymph node metastasis than that in gallbladder cancer without lymph node metastasis (P<0.05). Therfore, these results indicated that SSRT5, SSTR3 and SSTR4 may play important roles in the formation and development of gallbladder cancer.

Experiment study of structural random loading identification by the inverse pseudo excitation method

Guo, Xing-Lin,Li, Dong-Sheng Techno-Press 2004 Structural Engineering and Mechanics, An Int'l Jou Vol.18 No.6

The inverse pseudo excitation method is used in the identification of random loadings. For structures subjected to stationary random excitations, the power spectral density matrices of such loadings are identified experimentally. The identification is based on the measured acceleration responses and the structural frequency response functions. Numerical simulation is used in the optimal selection of sensor locations. The proposed method has been successfully applied to the loading identification experiments of three structural models, two uniform steel cantilever beams and a four-story plastic glass frame, subjected to uncorrelated or partially correlated random excitations. The identified loadings agree quite well with actual excitations. It is proved that the proposed method is quite accurate and efficient in addition to its ability to alleviate the ill conditioning of the structural frequency response functions.