Fully distributed time-varying formation tracking control for multiple quadrotor vehicles via finite-time convergent extended state observer

This paper investigates a time-varying anti-disturbance formation problem for a group of quadrotor aircrafts with time-varying uncertainties and a directed interaction topology. A novel Finite-Time Convergent Extended State Observer (FTCESO) based fully-distributed formation control scheme is proposed to enhance the disturbance rejection and the formation tracking performances for networked quadrotors. By adopting the hierarchical control strategy, the multi-quadrotor system is separated into two subsystems: the outer-loop cooperative subsystem and the inner-loop attitude subsystem. In the outer-loop subsystem, with the estimation of disturbing forces and uncertain dynamics from FTCESOs, an adaptive consensus theory based cooperative controller is exploited to ensure the multiple quadrotors form and maintain a time-varying pattern relying only on the positions of the neighboring aircrafts. In the inner-loop subsystem, the desired attitude generated by the cooperative control law is stably tracked under a FTCESO-based attitude controller in a finite time. Based on a detailed algorithm to specify the cooperative control protocol, the feasibility condition to achieve the time-varying anti-disturbance formation tracking is derived and the rigorous analysis of the whole closed-loop multi-quadrotor system is given. Some numerical examples are conducted to intuitively demonstrate the effectiveness and the improvements of the proposed control framework.     

热处理作业系统中安全性评价的AHP方法

本给出了系统安全性评价的AHP方法，叙述了该方法的基本步骤，并以沈阳某集团公司热处理弹簧厂评价的实例说明了该方法的有效性。     

Obscured Activity: AGN, Quasars, Starbursts and ULIGs Observed by the Infrared Space Observatory

Some of the most ‘active’ galaxies in the Universe are obscured by large quantities of dust and emit a substantial fraction of their bolometric luminosity in the infrared. Observations of these infrared luminous galaxies with the Infrared Space Observatory (ISO) have provided a relatively unabsorbed view to the sources fuelling this active emission. The improved sensitivity, spatial resolution and spectroscopic capability of ISO over its predecessor Infrared Astronomical Satellite (IRAS) of enabled significant advances in the understanding of the infrared properties of active galaxies. ISO surveyed a wide range of active galaxies which, in the context of this review, includes those powered by intense bursts of star formation as well as those containing a dominant active galactic nucleus (AGN). Mid-infrared imaging resolved for the first time the dust enshrouded nuclei in many nearby galaxies, while a new era in infrared spectroscopy was opened by probing a wealth of atomic, ionic and molecular lines as well as broad band features in the mid- and far-infrared. This was particularly useful, since it resulted in the understanding of the power production, excitation and fuelling mechanisms in the nuclei of active galaxies including the intriguing but so far elusive ultraluminous infrared galaxies. Detailed studies of various classes of AGN and quasars greatly improved our understanding of the unification scenario. Far-infrared imaging and photometry revealed the presence of a new very cold dust component in galaxies and furthered our knowledge of the far-infrared properties of faint starbursts, ULIGs and quasars. We summarise almost nine years of key results based on ISO data spanning the full range of luminosity and type of active galaxies.     

延长热电池寿命的途径探讨

从防空导弹地面电源－－热电池的热设计和工艺角度出发，分析影响电池工作寿命的因素，提出延长电池工作寿命的三条途径：合理控制热电池的内部热量；提高加热片的均匀性；合理选择外保温材料。实践证明，这些途径是可行的。     

适用于含多个隐式极限状态方程的飞机结构系统安全分析新方法

工程复杂随机结构的概率安全分析中，最重要的两个步骤是建立所有失效模式的极限状态方程和计算所建立极限状态方程的失效概率。一般来说大型复杂工程结构的极限状态方程都是隐式的，且当材料参数、结构参数和外载荷等均为随机变量时，极限状态方程均为非线性的，为此文中提出了建立真实复杂结构多模式隐式极限方程的等效方法。该方法对于单个极限状态方程采用在均值点展开成线性项和高次项修正的方式，在概率等效的基础上，建立起原非线性隐式极限状态方程的概率等效线性显式极限状态方程。当结构系统所有极限状态方程都建立了其等效显式线性极限状态方程后，即可利用可得的可靠性分析方法来计算结构系统的等效失效概率。所提方法被用于真实飞机结构翼身连接接头的强度刚度多模式可靠性分析，与迭代响应面法计算结果的对比表明，所提方法具有较高的精度。并且所提方法可以与任何标准有限元程序相结合，而标准有限元程序是当今处理结构力学分析与设计的强有力的工具，文中方法提供了力学分析与概率安全分析相结合的合理连接，其应用前景将是十分广泛的。     

自适应控制方法的直接命中目标本体的平行接近制导律

本文在最少量测条件下采用视线角速度ｑ趋于零的指标函数和低阶等效辨识模型与快速自适应控制方法实现了战术导弹的平行接近制导律。这种最优制导律可以实现直接命中目标本体，实现一弹多用，可以用于反导弹的控制。能使制导装置简化并使其尺寸和重量减小，算法简单易于工程使用。经过大量数学和半实物仿真试验表明，上述成果可应用于实际工程当中。     

雷达有源诱偏与反辐射导弹对抗仿真技术

简要分析反辐射对抗技术的发展应用情况,分析并提出了雷达有源诱偏与反辐射导弹对抗性能评估试验方法,最后介绍了一种抗反辐射导弹有源诱偏路馈半实物仿真系统研制与试验情况。     

Y19-1飞机飞行试验数据采集系统

简要介绍Y19- 1 飞机飞行试验数据采集系统的组成和工作原理。着重阐述固态记录可编程采集编码器的特点     

感应电动机的精确控制方法

利用非正则反馈线性化技术，对一类五阶感应电动机模型进行精确线性化，给出了控制器的显式表达式。     

翼板颤振主动抑制的无限维非线性分析

 <正> 1.混合动力学系统的Hopf分叉定理 本文将Marsden-McCracken关于分布参数的Hopf分叉定理推广至混合动力学系统。 设在积空间X=E×R~n中依赖参数μ的演化方程为