Formation control of multiple underwater vehicles subject to communication faults and uncertainties     

《Applied Ocean Research》2019

This paper proposes a novel approach to analyze and design the formation keeping control protocols for multiple underwater vehicles in the presence of communication faults and possible uncertainties. First, we formulate the considered vehicle model as the Port-controlled Hamiltonian form, and introduce the spring-damping system based formation control. Next, the dynamics of multiple underwater vehicles under uncertain relative information is reformulated as a network of Lur’e systems. Moreover, the agents under unknown disturbances generated by an external system are considered, where the internal model is applied to tackle the uncertainties, which still can be regulated as the Lur’e systems. In each case, the formation control is derived from solving LMI problems. Finally, a numerical example is introduced to illustrate the effectiveness of the proposed theoretical approach.  相似文献   

A multi-scale 3-D crust velocity model in the Hefei-Chao Lake area around the southern segment of Tanlu Fault Zone          下载免费PDF全文

Lingli Li  Huajian Yao  Song Luo  Junhui Li  Xiaoli Wang  Hongyu Ni  Ziwen Bao 《地震科学（英文版）》2021,34(4):344-357

Regional high-precision velocity models of the crust are an important foundation for examining seismic activity, seismogenic environments, and disaster distribution characteristics. The Hefei-Chao Lake area contains the main geological units of Hefei Basin, with thick sediments and the Chao Lake depression. Several major concealed faults of the southern NNE-trending Tanlu Fault Zone cross this area. To further explore the underground distribution characteristics of the faults and their tectonic evolutionary relationship with adjacent tectonic units, this study used ambient noise data recorded by a seismic array deployed in Hefei City and Chao Lake, constructing a 3-D velocity model at the depth of 1–8 km. Then a multi-scale high-resolution 3-D velocity model of this area was constructed by this new upper crustal velocity model with the previous middle and lower crustal model. The new model reveals that a high-velocity belt is highly consistent with the strike of the Tanlu Fault Zone, and a low-velocity sedimentary characteristic is consistent with the Hefei Basin and Chao Lake depression. The distribution morphology of high and low velocity bodies shows that the sedimentary pattern of Hefei-Chao Lake area is closely related to the tectonic evolution of the Tanlu Fault Zone since the Mesozoic. This study also identifies multiple low-velocity anomalies in the southeastern Hefei City. We speculate that strong ground motion during the 2009 Feidong earthquake (magnitude of 3.5) was related to amplification by the thick sediments in the Hefei Basin. We also discuss further applications of multi-scale high-resolution models of the shallow layer to strong ground motion simulations in cities and for earthquake disaster assessments.  相似文献   

红河断裂带类微生物状纳米颗粒的发现及其构造意义     

蔡周荣  卢丽娟  黄强太  李建峰  肖阳  杨鹏  陆杏欣  张程  黎雨晗 《大地构造与成矿学》2021,45(2):270-279

通过扫描电镜(SEM)观察,首次在红河断裂带内的花岗糜棱岩中发现类微生物状纳米颗粒.高分辨率平插能谱分析结果表明,该类微生物状纳米颗粒成分中的C元素平均含量约为10％,指示无机成因,并非某些菌类微生物,结合XRD分析结果表明该类纳米颗粒成分来自花岗糜棱岩的造岩矿物.通过对各种形貌特征的纳米颗粒观察、筛查和规律分析,探讨...  相似文献   

长江中下游成矿带铜陵矿集区层控硫化物矿床成因研究进展     

陈一秀  杨丹 《矿床地质》2021,40(1):128-142

安徽铜陵矿集区是长江中下游成矿带内重要的多金属成矿区,该矿集区具有大规模的成矿作用和多种类型的复杂成矿系统演化,找矿潜力大,研究程度较高.区内广泛发育一系列层状硫化物矿床,其成因问题一直是中国矿床学界争议的焦点之一.文章从成矿年代学、成矿流体来源以及成矿物质来源等方面,对近半个世纪以来国内外学者对该矿集区内层控硫化物矿...  相似文献   

用卫星热红外信息研究关联断层活动的时空变化--以南北地震构造带为例   总被引：34，自引：6，他引：28       下载免费PDF全文

马瑾  陈顺云  刘培洵  汪一鹏  刘力强 《地球物理学报》2006,49(3):816-823

断层活动不是孤立的,一条断层的活动可能影响其他断层,并引起这些断层的活动,这些相互作用的断层称为关联断层.本文利用卫星热红外信息以南北地震构造带为例,分析了关联断层活动的时空变化,所使用的信息是经过处理的地表亮温残差低频分量TLOW.结果表明,在一定时段内研究区一些断层间除地震活动表现出相互呼应关系外,其地表亮温残差低频分量TLOW曲线相似,相关系数高,说明热红外信息与地震信息共同反映一个地区断层的关联活动.此外,也存在单独由地表亮温残差低频分量TLOW相关表现断层关联活动的情形,即断层间无地震活动的呼应关系,但也存在TLOW曲线的相关性,同样显示关联断层的相互作用.对TLOW的时空过程分析表明,关联活动组合可随时间发生变化.例如,1988～1994年间红河断裂与澜沧-耿马断裂、金沙江断裂等构成关联活动组合,1994～1998年又与小金河断裂、安宁河-小江断裂构成关联活动组合,这样的时空变化过程可能是地壳应力场重新分配的反映.本文的研究结果证明,卫星热红外信息有望成为研究断层相互作用的一个新的独立物理量,并将对地震动力学和构造物理学的发展有重要意义.  相似文献   

阿拉善地块南缘的左旋走滑断裂与阿尔金断裂带的东延   总被引：12，自引：2，他引：10       下载免费PDF全文

陈文彬  徐锡伟 《地震地质》2006,28(2):319-324

阿拉善地块南缘发育了由5条走向近EW、向西收敛、向东撒开的断裂组成的断裂束,每条断裂长度一般>100km,控制第四纪盆地呈EW向长条状展布,卫片上线性影像清晰,晚第四纪以来表现出左旋走滑活动的特点。断裂束西段的金塔南山断裂与阿尔金断裂带东段的宽滩山段趋于交会,并与文殊山构造隆起之间构成构造转换关系。分析认为金塔南山断裂以及整个阿拉善南缘断裂束是阿尔金断裂左旋运动的东延部分,断裂束在平面上“帚状”的、向东撒开的构造样式有利于走滑运动量的分解、消减和吸收,符合走滑断裂末端的构造特点。阿拉善南缘断裂束的左旋走滑活动有可能是阿尔金断裂带进一步向东扩展的结果,其时代可能发生于早更新世末—中更新世初  相似文献   

柯坪塔格断裂西段古地震初步研究   总被引：8，自引：1，他引：7       下载免费PDF全文

闵伟  宋方敏  韩竹军  徐锡伟 《地震地质》2006,28(2):234-244

柯坪塔格断裂位于西南天山柯坪塔格推覆构造的最前缘,以皮羌断裂为界分成东西两段。在柯坪塔格断裂西段开挖了6个规模较大的探槽,6个探槽都揭露出断层,但其中3个探槽的古地震事件不清晰,另外3个探槽有古地震遗迹。通过分析研究,共确定了全新世以来的4次古地震事件:第1次古地震事件发生于距今约12ka,第2次事件发生于距今约8·6ka,第3次事件大致发生于距今约5ka,第4次事件发生于距今(1·73±0.15)ka以来,很可能是1961年西克尔6·8级地震。这4次古地震事件具有约3~5ka的准周期重复特征。天山南麓有5~6排推覆体,每排推覆体的前缘都发育活动逆断裂,它们向下收敛于寒武系底部的滑脱面,因此,天山南麓的地震破裂非常复杂,这4次古地震事件的震级、发震构造等问题都有待于今后的深入研究  相似文献   

淮北海孜煤矿断层与层间滑动构造组合型式及其形成机制   总被引：1，自引：0，他引：1       下载免费PDF全文

琚宜文  侯泉林  姜波  王桂梁  方爱民 《地质科学》2006,41(1):35-43

煤矿中煤层断层与层间滑动构造(简称层滑构造)发育普遍,可出现不同形式的组合。进行煤层断层与层滑构造及其组合型式的研究,对分析区域构造变形史、查明和预测煤层赋存规律、研究煤的耗散流变、煤层气的开发以及预防煤与瓦斯突出都具有重要作用。本文以淮北矿区海孜煤矿为例,在现场观测的基础上,分析总结了7、8、9和10煤层的断层与层滑构造的组合型式,并探讨了其形成机制。由于7、8、9和10煤层及顶、底板岩层组合的差异,不同煤层构造变形有较大区别。由于海孜煤矿岩层和煤层经历了多次构造活动,断层和层滑构造间产生了不同的空间组合,具体表现为3种型式:断层与层滑构造的同期扩展、断层与层滑构造组成块体及断层与层滑构造间的相互切割和限制。煤层的构造组合型式在很大程度上取决于构造应力作用、含煤地层的岩石力学性质和应变环境等。  相似文献   

The Longmyndian Rocks of the Old Radnor Inlier,Welsh Borderland     

N. H. Woodcock  J. C. Pauley 《Geological Journal》1989,24(2):113-120

Two formations are named in the presumed Precambrian sedimentary rocks of the Old Radnor Inlier. The Strinds Formation comprises fine- to medium-grained sandstones and pebbly sandstones. Grain-size, texture, clast types, and lithological invariance support correlation with the homogeneous and cross-bedded sandstone facies of the Bayston-Oakswood Formation of the Longmyndian, assigned to a braided alluvial plain environment. The Yat Wood Formation comprises fine-grained sandstones, siltstones, and laminated mudstones. It may be equivalent to some part of the Burway, Synalds, or Lightspout Formation. The Strinds and Yat Wood Formations are petrographically similar to each other and to the type Lonmyndian, and were sourced either directly or indirectly from a magmatic arc. The Strinds and Yat Wood Formations are seen only in faulted contact, and the inlier itself is partly or wholly bounded by strands of the Church Stretton fault zone. Similar faulted relationships are seen further northeast along the system at Pedwardine and in the Church Stretton area. A fault explanation for the juxtaposition of contrasting facies is favoured over that of an original unconformity of Strinds on Yat Wood Formation.  相似文献   

苏北—滨海断裂北段最新活动时代研究     

朱孟浩  闵伟  刘金瑞  任治坤  冯英辞 《震灾防御技术》2021,16(1):29-38

苏北—滨海断裂在江苏以北的存在与活动性长期以来存在争议.本研究通过小多道地震探测技术,对苏北—滨海断裂北段及附近海域进行探测,识别出4个反射界面,将研究区第四纪地层划分为4个地震层序,分别对应全新世、晚更新世、中更新世和早更新世4个地质时期.对照区域地质构造,对地震剖面断点进行分析,认为断点F1、F2、F3、F4、F8...  相似文献