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Zhe Yang,Xiao-wu Mu,Kai Liu 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper devotes itself to the containment tracking problem of general linear high-order multiagentsystems (MASs) under time-varying communications. For general linear MASs with time-varying weightunbalanceddigraph, the containment control problem is difficult and challenging, because the Lyapunov methodis not an effective approach in this case. Under the assumption that the graph topology uniformly and jointlyhas a directed spanning forest, we show that when the exponentially unstable mode associated with each agent’sself-dynamics is weak enough, the followers can asymptotically tend to the dynamical convex hull spanned bythe leaders, i.e. the containment can be achieved. Moreover, the least convergence rate is explicitly specified. Simulations are also provided to demonstrate the effectiveness of our result.
Xin-Qi Wang,Wei Sun,Lintao Wang,Shi-Hu Liang,Xiao-Kai Mu 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.6
An asymmetric modification method for the roller profile was proposed to address the bias load effect of rollers in the main drive bearing of a large roadheader. A contact mechanics model of the bearing was solved, and line contact theory was used to explore the effect of combined load and convexity on the bias load effect. The contact stress was found to be asymmetrically distributed along the contact line. This trend tended to be remarkable with the decrease in axial load or the increase in overturning moment. Symmetrically modified rollers can be used to improve the bias load effect by increasing convexity. However, this process led to the contact stress concentrating in the roller center. The influence of the design parameters for asymmetric modification on the roller profile and the contact stress was considered. The ideal design parameters were determined by using a genetic algorithm. The contact condition and fatigue life were remarkably increased.