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Nonlinear Hybrid Controller Design for Perturbed Quadrotor Robot by Uncertainties
Ju-Qian Zhang,Yu-Ru Shi,Yong Wu,Bang-chun Wen 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.11
In this paper, a novel nonlinear hybrid observers (HOB) based dynamic surface control (DSC) system, which integrates nominal and compensation controller, is designed for autonomous quadrotor robot perturbed by the uncertainties, e.g., external disturbances and measurement-delay. In this hybrid control system, the nominal controller based on dynamic surface control superior to the backstepping technique is the main controller, and the disturbance observer (DOB) is incorporated as the compensation controller to eliminate the effect of uncertainties caused by model mismatch and external disturbances. In addition, in order to relax the impact of measurement-delay induced by sensors of poor quality and heavy computation burden, the measurement-delay observer (MOB) is derived. Next, stability of the closed-loop control system is analytically proved based on Lyapunov theorem. Finally, comparative controllers are evaluated on simulation and experimental environments to demonstrate the effectiveness and merits of the proposed controller for quadrotor robot against the uncertainties.
Dong-Ju Chen,Li-Hua Yan,Qian Li,Cai-jiao Zhang,Chuan-Ling Si,Zhong-Yuan Li,Ya-Jian Song,Hao Zhou,Tong-Cun Zhang,Xuegang Luo 한국식품과학회 2017 Food Science and Biotechnology Vol.26 No.6
Conjugated linoleic acid (CLA) isomers, c9, t11- CLA and t10, c12-CLA, have been proved to exhibit excellent biomedical properties for potential use in anticancer applications and in reducing obesity. Acer truncatum Bunge (ATB), which is rich in unsaturated fatty acids, including oleic acid, linoleic acid, and nervonic acid, is a new resource for edible oil. In the present study, we developed a new method for producing two CLA isomers from ATB-seed oil by fermentation using Lactobacillus plantarum CGMCC8198 (LP8198), a novel probiotics strain. Polymerase chain reaction results showed that there was a conserved linoleate isomerase (LIase) gene in LP8198, and its transcription could be induced by ATBseed oil. Analyses by gas chromatography–mass spectrometry showed that the concentration of c9, t11-CLA and t10, c12-CLA in ATB-seed oil could be increased by about 9- and 2.25-fold, respectively, after being fermented by LP8198.
Fuping Zeng,Ju Tang,Yanbin Xie,Qian Zhou,Chaohai Zhang 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.4
It is common practice to identify the insulation faults of GIS through monitor the contents of SF6 decomposed components. Partial discharges (PD) could lead to the decomposition of SF6 dielectric, so new reactions usually occur in the mixture of the newly decomposed components including traces of H₂O and O₂. The new reactions also cause the decomposed components to differ due to the different amounts of H₂O and O₂ even under the same strength of PD. Thus, the accuracy of assessing the insulation faults is definitely influenced when using the concentration and corresponding change of decomposed components. In the present research, a needle-plate electrode was employed to simulate the PD event of a metal protrusion insulation fault for two main characteristic components SO₂F₂ and SOF₂, and to carry out influence analysis of trace H₂O and O₂ on the characteristic components. The research shows that trace H₂O has the capability of catching an F atom, which inhibits low-sulfide SFx from recombining into high-sulfide SF6. Thus, the amount of SOF₂ strongly correlates to the amount of trace H₂O, whereas the amount of SO₂F₂ is weakly related to trace H₂O. Furthermore, the dilution effect of trace O₂ on SOF₂ obviously exceeds that of SO₂F₂.
Fu-ping Zeng,Ju Tang,Yanbin Xie,Qian Zhou,Chaohai Zhang 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.4
It is common practice to identify the insulation faults of GIS through monitor the contents of SF6 decomposed components. Partial discharges (PD) could lead to the decomposition of SF6 dielectric, so new reactions usually occur in the mixture of the newly decomposed components including traces of H2O and O2. The new reactions also cause the decomposed components to differ due to the different amounts of H2O and O2 even under the same strength of PD. Thus, the accuracy of assessing the insulation faults is definitely influenced when using the concentration and corresponding change of decomposed components. In the present research, a needle-plate electrode was employed to simulate the PD event of a metal protrusion insulation fault for two main characteristic components SO2F2 and SOF2, and to carry out influence analysis of trace H2O and O2 on the characteristic components. The research shows that trace H2O has the capability of catching an F atom, which inhibits low-sulfide SFx from recombining into high-sulfide SF6. Thus, the amount of SOF2 strongly correlates to the amount of trace H2O, whereas the amount of SO2F2 is weakly related to trace H2O. Furthermore, the dilution effect of trace O2 on SOF2 obviously exceeds that of SO2F2.
Zeng, Fuping,Tang, Ju,Xie, Yanbin,Zhou, Qian,Zhang, Chaohai The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.4
It is common practice to identify the insulation faults of GIS through monitor the contents of SF<sub>6</sub> decomposed components. Partial discharges (PD) could lead to the decomposition of SF<sub>6</sub> dielectric, so new reactions usually occur in the mixture of the newly decomposed components including traces of H<sub>2</sub>O and O<sub>2</sub>. The new reactions also cause the decomposed components to differ due to the different amounts of H<sub>2</sub>O and O<sub>2</sub> even under the same strength of PD. Thus, the accuracy of assessing the insulation faults is definitely influenced when using the concentration and corresponding change of decomposed components. In the present research, a needle-plate electrode was employed to simulate the PD event of a metal protrusion insulation fault for two main characteristic components SO<sub>2</sub>F<sub>2</sub> and SOF<sub>2</sub>, and to carry out influence analysis of trace H<sub>2</sub>O and O<sub>2</sub> on the characteristic components. The research shows that trace H<sub>2</sub>O has the capability of catching an F atom, which inhibits low-sulfide SF<sub>x</sub> from recombining into high-sulfide SF<sub>6</sub>. Thus, the amount of SOF<sub>2</sub> strongly correlates to the amount of trace H<sub>2</sub>O, whereas the amount of SO<sub>2</sub>F<sub>2</sub> is weakly related to trace H<sub>2</sub>O. Furthermore, the dilution effect of trace O<sub>2</sub> on SOF<sub>2</sub> obviously exceeds that of SO<sub>2</sub>F<sub>2</sub>.
Xiang Zou,Chang-fa Chen,Xia-chang Qi,Jiang-chao Qian,Ju Chu,Ying-ping Zhuang,Si-liang Zhang,Wei Zeng,Wan-jun Li 한국생물공학회 2010 Biotechnology and Bioprocess Engineering Vol.15 No.6
Improvement of Erythromycin A (Er-A) production and purity by metabolic engineering of the industrial erythromycin-producing strains Saccharopolyspora erythraea strians ZL1004 and ZL1007, in which the amounts of tailoring enzymes EryK (a P450 hydroxylase)and EryG (an S-adenosylmethionine-dependent O-methyltransferase)for biotransformation of Erythromycin D to Er-A were modulated, was performed in a 50 L fermentor. Addition of 15 g/L of corn steep liquor to the medium increased Er-A production; maximum Er-A production was 8,196 U/mL at 191 h, which was 81.8% higher than that of control (4,507 U/mL at 184 h). Er-B impurities were completely eliminated, whereas Er-C impurities were only 153 U/mL at 191 h. Analysis of intra- and extracellular metabolites and key enzyme activities in central carbon metabolism revealed that the pool of TCA cycle intermediates was enhanced by the addition of corn steep liquor and induced an increase in erythromycin biosynthesis. There were no significant differences between strains ZL1004 and ZL1007 regarding Er-A production and impurity accumulation. Compared to wild type strain,Er-A production was improved by 23.9% while Er-C was reduced by 83.9% and Er-B was completely eliminated. Furthermore, fermentation of recombinant strain ZL1004was successfully scaled up from laboratory scale (50 L fermentor) to industrial scale (25 and 132 m3), with similar levels of Er-A production and purity obtained.
Yi, Wei-Min,Wang, Feige,Wu, Xue-Bing,Yang, Jinyi,Bai, Jin-Ming,Fan, Xiaohui,Brandt, William N.,Ho, Luis C.,Zuo, Wenwen,Kim, Minjin,Wang, Ran,Yang, Qian,Zhang, Ju-jia,Wang, Fang,Wang, Jian-Guo,Ai, Yanl IOP Publishing 2014 ASTROPHYSICAL JOURNAL LETTERS - Vol.795 No.2
<P>Very few of the z > 5 quasars discovered to date have been radio-loud, with radio-to-optical flux ratios (radio-loudness parameters) higher than 10. Here we report the discovery of an optically luminous radio-loud quasar, SDSS J013127.34-032100.1 (J0131-0321 in short), at z = 5.18 +/- 0.01 using the Lijiang 2.4 m and Magellan telescopes. J0131-0321 has a spectral energy distribution consistent with that of radio-loud quasars. With an i-band magnitude of 18.47 and a radio flux density of 33 mJy, its radio-loudness parameter is similar to 100. The optical and near-infrared spectra taken by Magellan enable us to estimate its bolometric luminosity to be L-bol similar to 1.1 x 10(48) erg s(-1), approximately 4.5 times greater than that of the most distant quasar known to date. The black hole mass of J0131-0321 is estimated to be 2.7 x 10(9) M-circle dot, with an uncertainty up to 0.4 dex. Detailed physical properties of this high-redshift, radio-loud, potentially super-Eddington quasar can be probed in the future with more dedicated and intensive follow-up observations using multi-wavelength facilities.</P>