A robust adaptive controller for a nonholonomic mobile robot with unknown kinematic and dynamic parameters is proposed.A kinematic controller whose output is the input of the relevant dynamic controller is provided by using the concept of backstepping.An adaptive algorithm is developed in the kinematic controller to approximate the unknown kinematic parameters,and a simple single-layer neural network is used to express the highly nonlinear robot dynamics in terms of the known and unknown parameters.In order to attenuate the effects of the uncertainties and disturbances on tracking performance,a sliding mode control term is added to the dynamic controller.In the deterministic design of feedback controllers for the uncertain dynamic systems,upper bounds on the norm of the uncertainties are an important clue to guarantee the stability of the closed-loop system.However,sometimes these upper bounds may not be easily obtained because of the complexity of the structure of the uncertainties.Thereby,simple adaptation laws are proposed to approximate upper bounds on the norm of the uncertainties to address this problem.The stability of the proposed control system is shown through the Lyapunov method.Lastly,a design example for a mobile robot with two actuated wheels is provided and the feasibility of the controller is demonstrated by numerical simulations.
Based on Hamilton's principle,a new kind of fully coupled nonlinear dynamic model for a rotating rigid-flexible smart structure with a tip mass is proposed.The geometrically nonlinear effects of the axial,transverse displacement and rotation angle are considered by means of the first-order approximation coupling(FOAC)model theory, in which large deformations and the centrifugal stiffening effects are considered.Three kinds of systems are established respectively,which are a structure without piezoelectric layer,with piezoelectric layer in open circuit and closed circuit.Several simulations based on simplified models are presented to show the differences in characteristics between structures with and without the tip mass,between smart beams in closed and open circuit, and between the centrifugal effects in high speed rotating state or not.The last simulation calculates the dynamic response of the structure subjected to external electrical loading.
Inkjet printing, known as digital writing technique, can directly deposit functional materials to form pattern onto substrate. This paper provides an overview of inkjet printing technologies for flexible electronics. Firstly, we highlight materials challenges in implementing flexible devices into practical application, especially for inkjet printing process. Then the micro/nano-patterning technologies of inkjet printing are discussed, including conventional inkjet printing techniques and electrohydrodynamic printing techniques. Thirdly, the related equipments on inkjet printing are shown. Finally, challenges for its future development are also discussed. The main purpose of the work is to condense the basic knowledge and highlight the challenges associated with the burgeoning and exciting field of inkjet printing for flexible electronics.
YIN ZhouPing HUANG YongAn BU NingBin WANG XiaoMei XIONG YouLun
