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Trajectory Tracking Control for Wheeled Mobile Robots with Kinematic Parameter Uncertainty
Jianjun Bai,Jian Du,Tianlong Li,Yun Chen 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.5
The trajectory tracking control for a class of wheeled mobile robots (WMRs) with kinematic parameter uncertainty is studied in this paper. Firstly, a new Lyapunov function is proposed, based on which, a new kinematic controller for WMRs without parameter uncertainty is designed to make the tracking error system asymptotically stable. Secondly, the parameter uncertainty of the kinematic model is taken into consideration and an modified adaptive law is designed to deal with the uncertainty. Then, in order to improve the tracking performance, a selftuning algorithm of the parameters of the controllers is proposed based on neural networks. Finally, numerical examples are given to illustrate the effectiveness of the proposed method.
Yang, Jianjun,Yuan, Donghong,Xing, Tongchao,Su, Hongli,Zhang, Shengjun,Wen, Jiansheng,Bai, Qiqiang,Dang, Dongmei The Korean Society of Ginseng 2016 Journal of Ginseng Research Vol.40 No.4
Background: Ginsenoside Rh2 (GRh2) is the main bioactive component in American ginseng, a commonly used herb, and its antitumor activity had been studied in previous studies. PDZ-binding kinase/T-LAK cell-originated protein kinase (PBK/TOPK), a serine/threonine protein kinase, is highly expressed in HCT116 colorectal cancer cells. Methods: We examined the effect of GRh2 on HCT116 cells ex vivo. Next, we performed in vitro binding assay and in vitro kinase assay to search for the target of GRh2. Furthermore, we elucidated the underlying molecular mechanisms for the antitumor effect of GRh2 ex vivo and in vivo. Results: The results of our in vitro studies indicated that GRh2 can directly bind with PBK/TOPK and GRh2 also can directly inhibit PBK/TOPK activity. Ex vivo studies showed that GRh2 significantly induced cell death in HCT116 colorectal cancer cells. Further mechanistic study demonstrated that these compounds inhibited the phosphorylation levels of the extracellular regulated protein kinases 1/2 (ERK1/2) and (H3) in HCT116 colorectal cancer cells. In vivo studies showed GRh2 inhibited the growth of xenograft tumors of HCT116 cells and inhibited the phosphorylation levels of the extracellular regulated protein kinases 1/2 and histone H3. Conclusion: The results indicate that GRh2 exerts promising antitumor effect that is specific to human HCT116 colorectal cancer cells through inhibiting the activity of PBK/TOPK.
A New Stability Condition for Uncertain Fuzzy Hopfield Neural Networks with Time-varying Delays
Jing Wang,Xia Liu,Jianjun Bai,Yuanfang Chen 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
In this paper, the global asymptotic stability of uncertain fuzzy Hopfield neural networks(UFHNNs) withtime-varying delays is investigated. Firstly, a new fuzzy Lyapunov function comprising a special line-integral functionof fuzzy vector is proposed. Then by using theWirtinger-based integral inequality to determine the upper boundof the derivative term of the Lyapunov function more accurately, a new stability criterion with less conservatism isderived in the form of linear matrix inequality(LMI). At last, an examples is given to show the effectiveness andsuperiority of our result.
Shuaishuai Wang,Caichao Zhu,Chaosheng Song,Huachao Liu,Jianjun Tan,Houyi Bai 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.3
The reliability and service life of wind turbines are directly influenced by the dynamic performance of the gearbox under the timevarying wind loads. The control of vibration behavior is essential for the achievement of a 20-year service life. We developed a rigidflexible coupled dynamic model for a wind turbine gearbox. The planet carrier, the housing, and the bedplate are modelled as flexibilities while other components are assumed as rigid bodies. The actual three points elastic supporting are considered and a strip based mesh model is used to represent the engagement of the gear pairs. The effects of gear tooth modifications on the dynamics were investigated. Finally, we conducted a dynamic test for the wind turbine gearbox in the wind field. Results showed that the contact characteristics of gear pairs were improved significantly; the peak-to-peak value of transmission error of each gear pair was reduced; the amplitudes of the vibration acceleration and the structural noise of the wind turbine gearbox were lowered after suitable tooth modification.