This study researches the vibration control approach for vehicle active suspension discrete-time systems with actuator time delay under road disturbances. First, the discrete-time models for the quarter vehicle active suspension system with actuator time delay are presented, and road disturbances are considered as the output of an exosystem. By introducing a discrete variable transformation, the discrete-time system with actuator time delay and the quadratic performance index are transformed into equivalent ones without the explicit appearance of time delays. Then, the problem of original vibration control with actuator time delay is transformed into the optimal vibration control for a non-delayed system with respect to the transformed performance index. Based on the maximum principle, the feedforward and feedback optimal vibration control law is obtained from Riccati and Stein equations. The existence and uniqueness of the optimal control law is proved. A reduced-order observer is constructed to solve the physically realizable problem of the feedforward compensator. Finally, the feasibility and effectiveness of the proposed approaches are validated by a numerical example.

This study researches the tracking control problem for discrete-time systems with multiple input delays affected by sinusoidal disturbances. This study is organized around the expression of sinusoidal and disturbances and the delay-free transformation. First, based on the periodic characteristic of the sinusoidal disturbance, the sinusoidal disturbances are considered as the output of an exosystem. By proposing a discrete variable transformation, the discrete-time system with multiple input delays and the quadratic performance index are transformed into equivalent delay-free ones. Then, by constructing an augmented system that comprises the states of the exosystems of sinusoidal disturbances, the reference input, and the delay-free transformation systems, the original tracking problem is transformed into the optimal tracking problem for a delay-free system with respect to the simplified performance index. The optimal tracking control (OTC) law is obtained from Riccati and Stein equations. The existent and uniqueness of the optimal control law is proved. A reduced-order observer is constructed to solve the problem of physically realizable for the items of the reference input and sinusoidal disturbances. Finally, the feasibility and effectiveness of the proposed approaches are validated by numerical examples.

A flexible caudal fin made of the macro fiber composites and the carbon fiber orthotropic composite was investigated by the numerical simulations and the experiments. First, a three-dimensional numerical simulation procedure was adopted to research the torsion propulsion mode of the caudal fin and the impact of the water for the structural torsion frequency of the caudal fin. Then, a two-dimensional unsteady fluid computational method was used to analyze the hydrodynamic performance with the periodic swing of the caudal fin on the torsion mode. Based on the simulation results, the flow field was demonstrated and discussed. The interaction between the caudal fin and the water was explained. Finally, the laser vibrometer system was built to verify the torsion propulsion mode. Meanwhile, the application of the caudal fin was realized on the torsion propulsion, and the measured system was established to demonstrate the performance of the caudal fin. The established simulation procedures and experimental methods in this study may provide guidance to the fins made of the composite materials during the structural design and the investigation of the flow field characteristics with the movement of the fins.

The road disturbance rejection problem for vehicle active suspension involving the nonlinear characteristics is researched in this paper. A continuous-time state space of nonlinear vehicle active suspension is established first, in which the road disturbance is generated from the output of an introduced exosystem based on the ground displacement power spectral density. After that, based on the dynamics of road roughness and the internal model principle, a disturbance compensator with zero steady-state error is designed, which is related to the dynamic characteristics of road disturbance and independent of the control system model. By combining the vehicle active suspension system and the designed road disturbance compensator, an augmented system is obtained without explicit indication of road disturbance. Then by solving a series of decoupled nonlinear two-point-boundaryvalue problem and employing an iterative computing algorithm, an approximation optimal road disturbance rejection controller is obtained. Finally, the simulation results illustrate that the proposed approximation optimal road disturbance rejection controller can reduce the values of sprung mass acceleration, tire deflection, suspension deflection, and energy consumption and compensate the nonlinear behaviors of vehicle active suspension effectively.

An improved ant colony algorithm is proposed in this paper for Traveling Salesman Problems (TSPs). In the process of searching, the ants are more sensitive to the optimal path because the inverse of distance among cities is chosen as the heuristic information, while a candidate list is used to limit the number of candidate city. The method of local and global dynamic phenomenon update is used in order to adjust the distribution of phenomenon according to the routes. The method of 2-opt is only used for the current optimal tour, enhancing the convergence speed. The simulation results demonstrate the proposed algorithm works well and efficient.