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This paper deals with the robust position control problem for a three degree-of-freedom (3DOF) laboratory helicopter. The 3DOF helicopter system is a nonlinear multiple-input multiple-output (MIMO) uncertain system, and has the elevation, pitch, and travel angles. The proposed robust controller is a hierarchical controller including an attitude controller and a position controller. The position controller generates the desired reference of the pitch angle based on the tracking error of the travel angle, while the attitude controller achieves the reference tracking of the pitch and elevation angles. It is proven that the tracking errors of the three angles can converge into the given neighborhoods ultimately. Experimental results on the laboratory helicopter demonstrate the effectiveness of the proposed hierarchical control strategy. 相似文献
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组织间合作的兴起使得传统公共物品提供模式有了新的发展,尤其对区域内各地方政府来说,它们可以选择和邻近的政府、辖区内的企业以及其他组织进行合作,以便更有效地提供区域公共物品与服务。对合作收益的预期和对合作成本的比较使得组织间选择合作有了可能,但为了进一步降低合作成本,增加合作收益,需要建立和完善各种机制,以保证合作模式的顺利有效运行。组织间合作作为一种新型公共物品供给趋势,有着广阔的发展前景。 相似文献
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《Journal of The Franklin Institute》2021,358(13):6684-6704
In this paper, we investigate the consensus problem for discrete linear multi-agent systems (MASs) with Markovian packet dropouts. Both identical and nonidentical packet dropouts are studied. For the discrete-time MASs under identical packet dropouts, we present the expectation of the total sojourn time of packet dropouts and successful message transmission, the switching number from packet dropouts to successful message transmission, and the awaken number of packet dropouts and successful message transmission. Based on these expectations, a linear consensus controller is designed through analyzing the transient properties of the Markov process such that the MASs can reach consensus almost surely for any initial distribution of packet dropouts. When it comes to the nonidentical packet dropouts where all the packets are independent and stochastic, a Markovian-lossy-channel based switching model (MLCBS model) is proposed. Based on the MLCBS model, we also propose an easy-to-implement linear consensus controller such that the MASs with nonidentical packet dropouts can achieve consensus almost surely. Finally, the theoretical results are illustrated by simulation examples. 相似文献
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高校图书馆的生态建设解析 总被引：2，自引：0，他引：2
随着社会的进步、科技的发展,人们对绿色生态环境的青睐程度越来越高,图书馆内部环境的设计则更关注读者对绿色的心理需求。本着“环保、生态、人文”的理念,打造“以人为本、全面、协调、可持续发展”的生态图书馆。本文从植物、光、色彩、人本关怀等方面阐述了图书馆的生态建设。 相似文献
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高校基础教育是夯实人才素质的基础工程,对培养青年科学文化素养、厚实专业学习基础、提高创新创造能力有着源头性、基础性作用,必须紧跟新时代、担当新使命、把握新要求,聚焦"四个回归"、扭住教学主体、大胆改革创新,着力提高基础教育质量,扎实大学生科学文化素质,助力培育堪当民族复兴重任的社会主义建设者和接班人。 相似文献