After China's supply chain finance business has gradually matured in the consumer finance field, it has begun to extend to the industrial finance field. As a branch of industrial finance, the natural gas industry supply chain finance business has gradually developed, and the number of participants has gradually increased. The article mainly introduces the development status of natural gas supply chain financial services in China. Research has found that there are still many problems in the current industry development, such as the inability of effective collaboration among participants, and the inability to unify logistics, information flow, capital flow and energy flow in the industry. On this basis, the article studies the methods of blockchain technology to solve corresponding problems, and proposes the application ideas of blockchain technology in the field of natural gas supply chain finance, hoping to promote development by constructing a business model business architecture and technical architecture, This model can produce significant economic and social benefits, has a high theoretical feasibility, but there is no concrete examples at present. Finally, suggestions are made in five aspects, including strengthening the design of top-level systems, incorporating energy flows into the supply chain financial framework system, creating an open innovation atmosphere, enhancing technological progress, strengthening core corporate social responsibility, and promoting core corporate organizational innovation.
This study investigates the trajectory-tracking problem of fully actuated unmanned surface vessels (USVs). A three-degree-of-freedom (3-DOF) dynamic model was used with three control variables: surge force, sway force, and yaw moment, where the model uncertainties, environmental disturbances, and actuator saturation were also considered. An improved nonlinear model predictive control (NMPC) method was investigated to improve the control performance in the trajectory tracking of USVs, and a nonlinear optimization problem based on the finite horizon was developed to minimize the divergence between the actual and the reference states. Moreover, a nonlinear disturbance observer (NDOB) was employed to estimate the environmental disturbance, which could enhance the robustness of the controller. Furthermore, an event-triggered mechanism was also employed to reduce the computational frequency of NMPC. Simulations of slide mode control, NMPC, and improved NMPC were performed in the trajectory-tracking control. Besides, the simulation results verified the effectiveness and robustness of the proposed improved NMPC-NDOB scheme.
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