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Abstract Although the acidic oxygen evolution reaction (OER) plays a crucial role in proton-exchange membrane water electrolysis (PEMWE) devices, challenges remain owing to the lack of efficient and acid-stable electrocatalysts. Herein, we present a low-iridium electrocatalyst in which tensile-strained iridium atoms are localized at manganese-oxide surface cation sites (TS-Ir/MnO2) for high and sustainable OER activity. In situ synchrotron characterizations reveal that the TS-Ir/MnO2 can trigger a continuous localized lattice oxygen-mediated (L-LOM) mechanism. In particular, the L-LOM process could substantially boost the adsorption and transformation of H2O molecules over the oxygen vacancies around the tensile-strained Ir sites and prevent further loss of lattice oxygen atoms in the inner MnO2 bulk to optimize the structural integrity of the catalyst. Importantly, the resultant PEMWE device fabricated using TS-Ir/MnO2 delivers a current density of 500 mA cm−2 and operates stably for 200 h.

This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA.