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Luyan Xu,Chaoli Wang,Xuan Cai,Shuanghe Yu,Yan Yan,Gang Wang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7
For an actual control system, the position information is usually an indispensable physical quantity for feedback control, while in an actual project, the position quantity is generally constrained. This paper discusses the distributed leader-following consensus control problem of networked Euler-Lagrangian systems (ELSs) both with unknown control directions and position constrains under a directed topology. Two novel types of barrier Lyapunov functions together with a Nussbaum-type gain function are employed to design distributed leader-following consensus protocol under a directed graph in this paper. One Lyapunov function is used to ensure that all the signals in the closed-loop system are bounded and the other is designed to prove that the consensus tracking errors of all the followers are uniformly ultimately bounded (UUB) and can be adjusted arbitrarily small. Meanwhile, according to the analysis of the tracking procedure, the security problem of position constraints are always satisfied. Finally, simulation examples are given to verify the effectiveness of the proposed algorithms in this paper.
Yujing Xu,Chaoli Wang,Gang Wang,Xuan Cai,Luyan Xu,Chonglin Jing 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.12
When the actuator faults and the control directions are unknown, the difficulty of the asymptotically tracking control of the surface vessel will increase. In this paper, for actuator failures and unknown control directions, a distributed adaptive asymptotically synchronous tracking control law for multiple uncertain underactuated surface vessels (USVs) is proposed, which can achieve network connectivity and good tracking performance in a limited communication range. First, a distributed nonlinear error surface is introduced to achieve synchronous tracking between USVs and maintain the initial connectivity patterns. Second, a conditional inequality is proposed to solve the problems of unknown actuator failures and unknown control directions. Then, combined with the derived technical lemmas and Barbalat’s lemma, the stability of the closed loop system is proved by the Lyapunov method. Finally, a simulation example verifies the theoretical results.
Xue Meng,Zhen Wang,Luyan Wang,Meishan Pei,Wenjuan Guo,Xinde Tang 대한금속·재료학회 2013 ELECTRONIC MATERIALS LETTERS Vol.9 No.5
Ordered poly(3,4-ethylenedioxythiophene) (PEDOT) was successfully prepared by electrochemical polymerization of 3,4-ethylenedioxythiophene in lyotropic liquid crystal phase formed by chitosan in an acetic acid solution. The structure, performance, and morphology of PEDOT were characterized by infrared absorption spectra, cyclic voltammograms, polarizing optical microscopy, and scanning electron microscopy. The ordered pure PEDOT film with good electrochemical behavior exhibited obvious birefringence.
Lu Yan,Huiyuan Wang,Yifan Jiang,Jinhua Liu,Zhao Wang,Yongxin Yang,Shengwu Huang,Yongzhuo Huang 한국고분자학회 2013 Macromolecular Research Vol.21 No.4
Macromolecular drugs become an essential part in neuroprotective treatment. However, the nature of ineffective delivery crossing the blood brain barrier (BBB) renders those macromolecules undruggable for clinical practice. Recently, brain target via intranasal delivery have provided a promising solution to circumventing the BBB. Despite the direct route from nose to brain (i.e. olfactory pathway), there still are big challenges for large compounds like proteins to overcome the multiple delivery barriers such as nasal mucosa penetration, intracellular transport along the olfactory neuron, and diffusion across the heterogeneous brain compartments. Herein presented is an intranasal strategy mediated by cell-penetrating peptide modified poly(lactic-co-glycolic acid) (PLGA) nanoparticles for the delivery of insulin to the brain, a potent therapeutic against Alzheimer’s disease. The results revealed that the cell-penetrating peptide can potentially deliver insulin into brain via the nasal route, showing a total brain delivery efficiency of 6%. It could serve as a potential treatment for neurodegenerative diseases.