This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance ...This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.展开更多
Abnormal voltages such as electrostatic,constant current,and strong electromagnetic signals can erroneously trigger operation of MEMS pyrotechnics and control systems in a fuze,which may result in casualties.This stud...Abnormal voltages such as electrostatic,constant current,and strong electromagnetic signals can erroneously trigger operation of MEMS pyrotechnics and control systems in a fuze,which may result in casualties.This study designs a solid-state micro-scale switch by combining the corona gas discharge theory of asymmetric electric fields and Peek’s Law.The MEMS switch can be transferred from“off”to“on”through the gas breakdown between the corona electrodes.In the model,one of the two electrodes is spherical and the other flat,so a non-uniform electric field is formed around the electrodes.The theoretical work is as follows.First,the relation among the radius of curvature of the spherical electrode,the discharge gap,and the air breakdown voltage is obtained;to meet the low voltage(30-60 V)required to drive the MEMS switch,the radius of curvature of the spherical electrode needs to be 10 e50 mm and the discharge gap between the two electrodes needs to be 9e11 mm.Second,the optimal ratioεis introduced to parameterize the model.Finally,the corona discharge structural parameters are determined by comparing the theoretical and electric field simulation results.The switch is then fabricated via MEMS processing.A hardware test platform is built and the performing chip tested.It is found that when the electrode gap is 9 mm,the electrostatic voltage is at least 37.3 V,with an error of 2.6%between the actual and theoretical air breakdown voltages.When the electrode gap is 11 mm,the electrostatic voltage is at least 42.3 V,with an error of 10.5%between the actual and theoretical air breakdown voltages.Both cases meet the design requirements.展开更多
基金supported in part by the National Natural Science Foundation of China(61825305,62171274,U1933125,U2241228,62273019)the Shanghai Science and Technology Major Project(2021SHZDZX)+2 种基金the National Natural Science Foundation of China through the Main Research Projecton Machine Behavior and Human-Machine Collaborated Decision Making Methodology(72192820)the Third Research Projecton Human Behavior in HumanMachine Collaboration(72192822)the China Postdoctoral Science Foundation(2022M710093)。
文摘This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake robots.Firstly,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track velocity.The proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle approximately.In our method,the designed piecewise auxiliary function guarantees the finite-time stability of position errors.Secondly,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s robustness.The uniform ultimate boundedness of the closed-loop system is proved by analyzing stability.Additionally,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential velocity.At last,the availability and superiority of this work are shown through simulation and experiment results.
文摘Abnormal voltages such as electrostatic,constant current,and strong electromagnetic signals can erroneously trigger operation of MEMS pyrotechnics and control systems in a fuze,which may result in casualties.This study designs a solid-state micro-scale switch by combining the corona gas discharge theory of asymmetric electric fields and Peek’s Law.The MEMS switch can be transferred from“off”to“on”through the gas breakdown between the corona electrodes.In the model,one of the two electrodes is spherical and the other flat,so a non-uniform electric field is formed around the electrodes.The theoretical work is as follows.First,the relation among the radius of curvature of the spherical electrode,the discharge gap,and the air breakdown voltage is obtained;to meet the low voltage(30-60 V)required to drive the MEMS switch,the radius of curvature of the spherical electrode needs to be 10 e50 mm and the discharge gap between the two electrodes needs to be 9e11 mm.Second,the optimal ratioεis introduced to parameterize the model.Finally,the corona discharge structural parameters are determined by comparing the theoretical and electric field simulation results.The switch is then fabricated via MEMS processing.A hardware test platform is built and the performing chip tested.It is found that when the electrode gap is 9 mm,the electrostatic voltage is at least 37.3 V,with an error of 2.6%between the actual and theoretical air breakdown voltages.When the electrode gap is 11 mm,the electrostatic voltage is at least 42.3 V,with an error of 10.5%between the actual and theoretical air breakdown voltages.Both cases meet the design requirements.
