Adaptive Fractional-Order Sliding Mode Controller with Neural Network Compensator for an Ultrasonic Motor

Ultrasonic motors (USMs) are commonly used in aerospace, robotics, and medical devices, where fast and precise motion is needed. Remarkably, sliding mode controller (SMC) is an effective controller to achieve precision motion control of the USMs. To improve the tracking accuracy and lower the chattering in the SMC, the fractional-order calculus is introduced in the design of an adaptive SMC in this paper, namely, adaptive fractional-order SMC (AFOSMC), in which the bound of the uncertainty existing in the USMs is estimated by a designed adaptive law. Additionally, a short memory principle is employed to overcome the difficulty of implementing the fractional-order calculus on a practical system in real-time. Here, the short memory principle may increase the tracking errors because some information is lost during its operation. Thus, a compensator according to the framework of Bellman's optimal control theory is proposed so that the residual errors caused by the short memory principle can be attenuated. Lastly, experiments on a USM are conducted, which comparative results verify the performance of the designed controller.Comment: 9 pages, 9 figure

Reshaping of Truncated Pd Nanocubes: Energetic and Kinetic Analysis Integrating Transmission Electron Microscopy with Atomistic-Level and Coarse-Grained Modeling

Stability against reshaping of metallic fcc nanocrystals synthesized with tailored far-from-equilibrium shapes is key to maintaining optimal properties for applications such as catalysis. Yet Arrhenius analysis of experimental reshaping kinetics, and appropriate theory and simulation, is lacking. Thus, we use TEM to monitor the reshaping of Pd nanocubes of ∼25 nm side length between 410 °C (over ∼4.5 h) and 440 °C (over ∼0.25 h), extracting a high effective energy barrier of Eeff ≈ 4.6 eV. We also provide an analytic determination of the energy variation along the optimal pathway for reshaping that involves transfer of atoms across the nanocube surface from edges or corners to form new layers on side {100} facets. The effective barrier from this analysis is shown to increase strongly with the degree of truncation of edges and corners in the synthesized nanocube. Theory matches experiment for the appropriate degree of truncation. In addition, we perform simulations of a stochastic atomistic-level model incorporating a realistic description of diffusive hopping for undercoordinated surface atoms, thereby providing a visualization of the initial reshaping process

Crystal Structure Manipulation of the Exchange Bias in an Antiferromagnetic Film

Exchange bias is one of the most extensively studied phenomena in magnetism, since it exerts a unidirectional anisotropy to a ferromagnet (FM) when coupled to an antiferromagnet (AFM) and the control of the exchange bias is therefore very important for technological applications, such as magnetic random access memory and giant magnetoresistance sensors. In this letter, we report the crystal structure manipulation of the exchange bias in epitaxial hcp Cr2O3 films. By epitaxially growing twined (10-10) oriented Cr2O3 thin films, of which the c axis and spins of the Cr atoms lie in the film plane, we demonstrate that the exchange bias between Cr2O3 and an adjacent permalloy layer is tuned to in-plane from out-of-plane that has been observed in (0001) oriented Cr2O3 films. This is owing to the collinear exchange coupling between the spins of the Cr atoms and the adjacent FM layer. Such a highly anisotropic exchange bias phenomenon is not possible in polycrystalline films.Comment: To be published in Scientific Reports, 12 pages, 6 figure