Adaptive exponential-reaching sliding-mode control for antilock braking systems

[[abstract]]Most commercial antilock braking system (ABS) is based on a look-up table. The table is calibrated through laboratory experiments and engineering field tests under specified road conditions, but it is not adaptive. To attack this problem, this paper proposes an adaptive exponential-reaching sliding-mode control (AERSMC) system for an ABS. The proposed AERSMC system is composed of an equivalent controller and an exponential compensator. The equivalent controller uses a functional-linked wavelet neural network (FWNN) to online approximate the system uncertainties and the exponential compensator is designed to eliminate the effect of the approximation error introduced by the FWNN uncertain observer with an exponential-reaching law. In addition, the adaptive laws online-tune the controller parameters in the sense of Lyapunov function to guarantee the system stability. Finally, the simulation results verify that the proposed AERSMC system can achieve favorable slip tracking performance and is robust against parameter variations in the plant.[[notice]]補正完畢[[incitationindex]]SCI[[booktype]]紙本[[booktype]]電子

The Effects of a Low-Level Boron, Phosphorus, and Nitrogen Doping on the Oxygen Reduction Activity of Ordered Mesoporous Carbons

In order to elucidate the role of B, N, and P dopants in carbon materials on the kinetics of oxygen reduction reaction (ORR) and to provide a fair comparison of the effects of each dopant, a series of ordered mesoporous carbons (OMCs) with low concentration of heteroatoms ( lt 1 at%) has been prepared. Doped OMCs were characterized using X-ray photoelectron spectroscopy (XPS), inductively coupled plasma optical emission spectroscopy (ICP-OES), Raman spectroscopy, X-ray powder diffraction (XRD), and N-2 physisorption measurements. Comparative study of the ORR activity of these materials in alkaline solution was performed using rotating disk electrode voltammetry. The experiments evidenced that, compared to non-doped OMC, charge transfer kinetics was improved independently on the nature of the heteroatom. The decrease of the ORR overvoltage and the increase of the mass activity upon doping are similar for B and P and less prominent for N. On the other hand, OMCs doped with low levels of B and N were found to be selective for O-2 reduction to peroxide, while for P-doped OMCs, the apparent number of electrons consumed per O-2 molecule was up to 3.1. Experimental measurements were complemented by density functional theory (DFT) calculations