Search

In this paper, the division-by-zero (DBO) problem in the field of nonlinear control, which is traditionally termed the control singularity problem (or specifically, controller singularity problem), is investigated by the Zhang dynamics (ZD) method and the Zhang-gradient (ZG) method. According to the impact of the DBO problem on the state variables of the controlled nonlinear system, the concepts of the pseudo-DBO problem and the true-DBO problem are proposed in this paper, which provide a new perspective for the researchers on the DBO problems as well as nonlinear control systems. Besides, the two classes of DBO problems are solved under the framework of the ZG method. Specific examples are shown and investigated in this paper to illustrate the two proposed concepts and the efficacy of the ZG method in conquering pseudo-DBO and true-DBO problems. The application of the ZG method to the tracking control of a two-wheeled mobile robot further substantiates the effectiveness of the ZG method. In addition, the ZG method is successfully applied to the tracking control of a pure-feedback nonlinear system. [ABSTRACT FROM AUTHOR]

A low-cost and facile route has been developed for the synthesis of monodisperse CuPd nanoparticles with tunable composition. (Scanning transmission electron microscopy-energy-dispersive x-ray spectroscopy) STEM-EDX results verified the structure of the alloy for the obtained nanoparticles. These CuPd nanoparticles supported on carbon were active catalysts for hydrogen generation from the methanolysis of ammonia borane (AB) at room temperature, and their activities were closely related with the compositions. Cu48Pd52 NPs exhibited the highest activity among the tested catalysts. Moreover, their activity can be further improved by thermal annealing at 300 °C under nitrogen flow, with a very high total turnover frequency value of 53.2 min(-1). The reusability test indicated that the Cu48Pd52/C catalyst retains 86% of its initial activity and 100% conversion after 8 cycles. The catalyst, which features lost cost and high efficiency, may help move forward the practical application of AB as a sustainable hydrogen storage material.