In this paper, an adaptive multivariable continuous terminal sliding mode (CTSM) controller with robust input shaper (RIS) is proposed for flexible spacecraft under model uncertainty and external disturbance. Firstly, for the problem of flexible vibration introduced by flexible appendage, the RIS based on disturbance observer is designed. The proposed input shaper can eliminate the flexible vibration effectively even if there are some disturbances in flight. Then, an adaptive multivariable CTSM controller is proposed for attitude tracking of flexible spacecraft, using only information about the output and its first derivative. The features of the developed methods are that it is continuous multivariable controller which attenuates the chattering effectively and the attitude tracking can be achieved in finite time. The stability and robustness properties of the system are proven using Lyapunov function. Finally, some numerical simulations are performed to validate the efficiency of the developed algorithm.

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E3 ubiquitin ligases have been more widely reported to mediate the degradation of target proteins. In our research, one SIAH type E3 ligase was identified, named RIP1, and there are five genes were found to be highly homologous to it, named RIP2 to RIP6 dividedly. Y2H and BiFC were carried out to prove the interaction between RIPs and OsFH5, moreover, homo- and hetero- oligomers can be formed among RIPs and they all can affect the localization of OsFH5. Degradation experiments showed that RIP1 is able to slow down the degradation rate of OsFH5, and also RIP5, RIP6. There was no obvious phenotype in both RIP1 overexpression and mutant transgenic lines, whereas in rips multi-knock out lines showed up similar defects to osfh5, such as, dwarf height; less smooth and rounder seeds; leaves width became wilder. Otherwise, rips also exhibit some special phenotypes, for instance, the angles between leaves and stems were appreciable enlarged; spiral crimped roots. In addition, microfilaments organization in rips appeared disordered than wild type. All above illustrate that RIPs influence morphology by interacting with OsFH5 and affecting its subcellular localization, stability or maybe involved in other pathways in rice.

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