In this article, a full-order sliding mode controller with echo state network (ESN-FOSMC) disturbance compensation is proposed for the trajectory tracking and vibration suppression of underwater flexible manipulators (UFM). To improve robustness under lumped disturbances reduce computational complexity traditional recurrent neural networks method, ESN, continuous network, used to approximate compensate model uncertainties hydrodynamic disturbances. A FOSMC designed ensure accurate joints...

This paper proposes a composite controller (CC) to improve the accuracy of trajectory tracking and suppress vibration two-link underwater flexible manipulators. A dynamic model manipulators considering hydrodynamic force is established by combining Lagrange equation Morison formula. Then, divided into subsystem rigid subsystem, decomposed control strategy presented for two subsystems. In particular, an adaptive fuzzy sliding mode scheme (AFSMC) with good robustness compensate uncertain...

It is of great significance to expand the functions submarines by carrying underwater manipulators with a large working space. To suppress flexible vibration manipulators, an improved sparrow search algorithm (ISSA) combining elite strategy and sine proposed for trajectory planning manipulators. In this method, evaluation function established based on precise dynamic model manipulator considering complex motion constraints. Simulation results show that ISSA requires only 1/3.68 time PSO....

An adaptive nonsingular fast terminal sliding mode control scheme with extended state observer (ESO) is proposed for the trajectory tracking of an underwater vehicle-manipulator system (UVMS), where subjected to lumped disturbances associating both parameter uncertainties and external disturbances. The inverse kinematics obtained by quaternion-based closed-loop kinematic algorithm. controller consists modified surface (NFTSMS) ESO, law. utilized NFTSMS can ensure convergence errors, together...

In this paper, the tracking control problem of underwater robot manipulators is investigated under influence lumped disturbances, including unknown ocean current disturbances and parameter uncertainties. The proposed novel continuous nonsingular finite–time (CNFT) method twofold. Firstly, modified adaptive super–twisting algorithm (ASTA) with a fast terminal sliding mode (NFTSM) manifold to guarantee convergence both in phase reaching phase. Secondly, higher–order disturbance observer...

This article studies the trajectory tracking control of underactuated underwater vehicles using moment gyros through a biologically inspired approach based on homeomorphism transformation and Lyapunov functions in horizontal plane. First, series assumptions simplifications need to be made build kinematic dynamic equations vehicle under single-frame pyramid configuration structured with four gyros. Second, error dynamics analysis submarine is derived from equations, algorithm proposed...

This paper focuses on the attitude tracking control of autonomous underwater vehicle (AUV) using moment gyros (CMGs) with lumped nonlinearities including model uncertainty, coupling dynamic property, external disturbance, and input saturation. To describe AUV without singularities, quaternions are used to its translational rotational motion. A finite-time convergent extended state observer (FTCESO) in conjunction sliding mode (SMC) approach is exploited design controller for closed-loop...

The characteristics of fast electrons (e-) and heavy particles (N2+, N+, N2f, Nf) in the cathode dark space (CDS) nitrogen dc glow discharge are simultaneously studied by Monte Carlo simulation. calculated energy angular distributions these at different positions from provide a clear picture their transport behaviours within CDS. density mean indicate that atomic ions (N+) main high-energy species molecular (N2+) major It can be seen bombarding surface atoms (Nf) active participating nitride...

In this paper, a fractional integral sliding mode control (FISMC) strategy with disturbance observer (DO) is proposed for the trajectory tracking problem of underwater manipulator, under lumped disturbances namely parameter uncertainties and external disturbances. The modified surface (FISMS) designed to guarantee fast convergence system states. DO method second-order law are used in controller design, which former introduced compensate effect Also, saturated function selected replace sign...

This paper proposes an adaptive wave neural network nonsingular terminal sliding mode control (AWNN-NTSMC) strategy with force estimation, which is exploited to address the path tracking problem of underwater manipulator under lumped disturbances. The proposed scheme contains three parts: a surface (NTSMS) part, AWNN and estimation part. NTSMS designed make system states achieve fast convergence in phase. theory utilized approximate disturbances via online adjustment parameters. method...

Alternative electron beam technologies to conventional single systems have the potential increase current by an order of magnitude, into 1–10 μA range. The technique we are investigating is insert aperture array at object plane in a lithography system, thus creating beamlets which imaged as dot matrix. Each surrounded independently controlled electrostatic microblanker can modulate beamlet passing through conjuction with blanking placed crossover further down column. An existing 20 kV shaped...

A double-loop fractional integral sliding mode control (DLFISMC) strategy is designed to solve the trajectory tracking problem of an underwater manipulator with bounded external disturbance, which composed outer loop position and inner velocity one. On basis theory stability method, surfaces reaching laws are respectively. In addition, auxiliary introduced controller estimate disturbance. The Lyapunov can ensure finite-time convergence closed-loop system. simulation results from a 6 degree...

Abstract The distribution network is the end link of power grid. level management directly affects supply capacity and quality. It related to operation social image grid enterprise. transformer a very important component in network. continuously safe stable. Grid reliability. In this context, paper proposes an intelligent gateway fault detection algorithm for failure, which collects data transformers multiple dimensions source channels, such as electrical variables non-electrical variables....

Abstract Proper selection of reservoir drilling fluids (RDF) or drill-in can minimize formation damage and maximise well productivity injectivity. Typically, fluid involves pre-screening candidates followed by laboratory return permeability testing a selected few. However, as the often have different loss properties, final decision to which use is arbitrary. These difficulties stem from fact that there no recognised method for comparing potential with profiles lack valid models upscaling...

In electron beam projection systems there are competing requirements for column length. Shorter lengths lead to reduced space charge interactions while longer columns allow larger field sizes. Other parameters include the convergence angle and voltage. We have used a generic 4:1 reduction telecentric system as test vehicle study these tradeoffs. To determine lens aberrations we employed thick configuration with constant magnetic fields; blur was estimated Monte Carlo simulation using thin...

It is known that vibratory feeders are the most versatile of all hopper feeding devices for small engineering parts and play a key role in assembly automation. This work develops mathematical model part motion feeding, from which how works can be better known. A computer simulation programmed with MATLAB has been made to predict conveying velocity vibration system, furthermore, experiments have carried out verification purpose. The experimental results show reasonable, hence used improve...

The recent dramatic rise in power conversion efficiencies (PCEs) of perovskite solar cells (PSCs) has triggered intense research worldwide. However, high PCE values have often been reached with poor stability at an illuminated area typically less than 0.1 square centimeter. We used heavily doped inorganic charge extraction layers planar PSCs to achieve very rapid carrier extraction, even 10- 20- nanometer-thick layers, avoiding pinholes and eliminating local structural defects over large...

This paper describes the development of a decoupled vibratory feeding system (DVFS), while design and fuzzy control strategy are stressed. In DVFS, vibration angle frequency waveform driving signals as well phase between vertical horizontal all can be easily adjusted, in software way, to suit agile manufacturing. The computer sensors form up closed-loop digital various strategies applied guarantee optimal performance. A DVFS prototype has been successfully developed, on which experimental...

In this paper, trajectory tracking control of the underwater vehicle with moment gyros (CMGs) is addressed under presence model perturbation and time-varying environmental disturbances. Motivated by a global homeomorphism transformation, adaptive dynamical sliding mode controller developed for decoupled in horizontal plane. Based on analysis error equations backstepping design techniques, law utilized to estimate uncertain states caused systematical external Simulation results show its...