对于动态目标的航天器鲁棒PD+快速跟踪控制方法

摘要：针对卫星对于空间动态目标快速、稳定地跟踪、控制目标，同时考虑平台模型的不确定性、外部随机干扰、系统控制力矩与角速度约束等因素，设计PD+控制器实现对于动态目标的快速、稳定跟踪；在经典PD控制器的基础上设计控制添加项使得系统能够按照既定轨迹运动；采用变结构的手段实现系统收敛速度的提升；合理设计Lyapunov函数的结构，引出角速度、四元数的耦合项对V函数进行改良，简化系统稳定性证明与分析的过程；讨论系统最极端情形，通过对V函数上下界的讨论分析系统该情形下的稳定性；最后通过数值仿真验证所提出算法的有效性与优越性.     

Complex morphological variability in complex evaporitic systems: thermal spring snails from the Chihuahuan Desert, Mexico

Thermal springs in evaporitic environments provide a unique biological laboratory in which to study natural selection and evolutionary diversification. These isolated systems may be an analogue for conditions in early Earth or Mars history. One modern example of such a system can be found in the Chihuahuan Desert of north-central Mexico. The Cuatro Cienegas basin hosts a series of thermal springs that form a complex of aquatic ecosystems under a range of environmental conditions. Using landmark-based morphometric techniques, we have quantified an unusually high level of morphological variability in the endemic gastropod Mexipyrgus from Cuatro Cienegas. The differentiation is seen both within and between hydrological systems. Our results suggest that this type of environmental system is capable of producing and maintaining a high level of morphological diversity on small spatial scales, and thus should be a target for future astrobiological research.