Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators

Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.     

Instability criterion for the system composed of elastic beam and strain-softening pillar based on gradient-dependent plasticity

A mechanical model is proposed for the system of elastic beam and strain-softening pillar where strain localization is initiated at peak shear stress. To obtain the plastic deformation of the pillar due to the shear slips of multiple shear bands, the pillar is divided into several narrow slices where compressive deformation is treated as uniformity. In the light of the compatibility condition of deformation, the total compressive displacement of the pillar is equal to the displacement of the beam in the middle span. An insta bility criterion is derived analytically based on the energy principle using a known size of localization band according to gradientdependent plasticity. The main advantage of the present model is that the effects of the constitutive parameters of rock and the geometrical size of structure are reflected in the criterion. The condition that the derivative of distributed load with respect to the deflection of the beam in the middle span is less than zero is not only equivalent to, but also even more concise in form than the instability criterion. To study the influences of constitutive parameters and geometrical size on stability, some examples are presented.     

Dynamic analysis of fault rockburst based on gradient-dependent plasticity and energy criterion

Fault rockburst is treated as a strain localization problem under dynamic loading condition considering strain gradient and strain rate. As a kind of dynamic fracture phenomena, rockburst has characteristics of strain localization, which is considered as a one-dimensional shear problem subjected to normal compressive stress and tangential shear stress. The constitutive relation of rock material is bilinear (elastic and strain softening) and sensitive to shear strain rate. The solutions proposed based on gradientdependent plasticity show that intense plastic strain is concentrated in fault band and the thickness of the band depends on the characteristic length of rock material. The post-peak stiffness of the fault band was determined according to the constitutive parameters of rock material and shear strain rate. Fault band undergoing strain softening and elastic rock mass outside the band constitute a system and the instability criterion of the system was proposed based on energy theory. The criterion depends on the constitutive relation of rock material, the structural size and the strain rate. The static result regardless of the strain rate is the special case of the present analytical solution. High strain rate can lead to instability of the system.     

Stability Analysis of Nonlinear Networked Control System with Integral Quadratic Constraints Performance in Takagi-Sugeno Fuzzy Model

This paper focuses on the stability analysis of nonlinear networked control system with integral quadratic constraints(IQC) performance, dynamic quantization, variable sampling intervals, and communication delays. By using input-delay and parallel distributed compensation(PDC) techniques, we establish the Takagi-Sugeno(T-S) fuzzy model for the system, in which the sampling period of the sampler and signal transmission delay are transformed to the refreshing interval of a zero-order holder(ZOH). By the appropriate Lyapunov-Krasovskii-based methods, a delay-dependent criterion is derived to ensure the asymptotic stability for the system with IQC performance via the H_∞ state feedback control. The efficiency of the method is illustrated on a simulation exampler.     

Robust Adaptive Neural Control of a Class of MIMO Nonlinear Systems

In this paper we present a robust adaptive control for a class of uncertain continuous time multiple input multiple output (MIMO) nonlinear systems. Multiple multi-layer neural networks are employed to approximate the uncertainty of the nonlinear functions, and robustifying control terms are used to compensate for approximation errors. All parameter adaptive laws and robustifying control terms are derived based on Lyapunov stability analysis so that, under appropriate assumptions, semi-global stability of the closed-loop system is guaranteed, and the tracking error asymptotically converges to zero. Simulations performed on a two-link robot manipulator illustrate the approach and its performance.     

Safety Verification of Semi-Algebraic Dynamical Systems via Inductive Invariant

To verify the safety of nonlinear dynamical systems based on inductive invariants, key issues include defining the most complete inductive condition and discovering an inductive invariant that satisfies the specified inductive condition. In this paper, to lay a solid foundation for future research into the safety verification of semi- algebraic dynamical systems, we first establish a formal framework for evaluating the quality of continuous inductive conditions. In addition, we propose a new complete and computable inductive condition for verifying the safety of semi-algebraic dynamical systems. Compared with the existing complete and computable inductive condition, this new inductive condition can be easily adapted to achieve a set of sufficient inductive conditions with different level of conservativeness and computational complexity, which provides us with a means to trade off between the verification power and complexity. These inductive conditions can be solved by quantifier elimination and SMT solvers.     

Modified Projective Synchronization of a New Hyperchaotic System with Known or Unknown Parameters

This work presents two different methods-- nonlinear control method and adaptive control approach to achieve the modified projective synchronization of a new hyperchaotic system with known or unknown parameters. Based on Lyapunov stability theory, nonlinear control method is adopted when the parameters of driving and response systems are known beforehand; when the parameters are fully unknown, adaptive controllers and parameters update laws are proposed to synchronize two different hyperchaotic system and identify the unknown parameters. Moreover, the rate of synchronization can be regulated by adjusting the control gains designed in the controllers. The corresponding simulations are exploited to demonstrate the effectiveness of the proposed two methods.     

New Approach to the Power Selection for Asynchronous Motor

The heating calculation of three-phase squirrel-cage asynchronous motor on the condition of starting for a prescribed rotary angle is firstly studied with time dissection method and its corresponding algorithm is provided. Then based upon the algorithm, a new method for motor power selection is established. Motor initial power determined by load power is checked and modified in terms of time criterion, heating criterion, and starting torque criterion. An appropriate motor power which meets three criterions is obtained at last, in the meantime, working displacement matrix and frequency matrix used for control are acquired. Lifting motor of MDJ1800 low-level high-speed palletizer is taken as a real case hi the paper.     

Mata—information generation in distributed information system

The authors discuss the concept of meta-information which is the desription of information system or its subsystems,and proposes algorithms for meta-information generation.Meta-information can be generated in parallel mode and network computation can be used to accelerate meta-information generation.Most existing rough set methods assume information system to be centralized and cannot be applied directly in distributed information system.Data integration ,which is costly,is necessary for such existing methods.However,meta-information integration will eliminate the need of data integration in many cases,since many rough set operations can be done straightforward based on meta-information,and many existing methods can be modified based on meta-information.     

Robust control for uncertain singular systems with time-varying delay

We study the problem of L2-L∞, control for a class of uncertain singular systems with time-delay and norm-bounded parameter uncer- tainties in this paper. A new delay-dependent robust stability criterion is obtained in terms of linear matrix inequalities （LMIs）. Based on this criterion, a state feedback controller is designed to guarantee that the closed-loop system is regular, impulse free and stable with a prescribed L2-L∞ performance satisfied for all admissible parameter uncertainties. A simulation example is included to illustrate the effectiveness of the proposed method.     

非线性MDDEs Runge-Kutta方法的渐进稳定性

对文献[1]中初值问题条件改造后,给出了非线性MDDEs的Runge-Kutta方法GAR(l)-稳定的一个充分条件,并将文献[1]的部分工作推广到了多延迟的情形,获得了较好的结果.     

模糊时滞系统的状态反馈控制器设计与稳定性分析

在保证闭环系统稳定的基础上,为进一步改进系统的动态性能,将模糊T-S模型方法应用到非线性连续时滞系统的控制器设计中,提出了一种带调节因子的状态反馈控制器的设计方法.首先给出变时滞非线性系统的模糊T-S模型,然后设计出基于观测器的状态反馈控制器,并利用Lyapunov-Razum ikhin稳定性理论给出模糊闭环系统一致渐近稳定的充分条件,最后通过求解一系列线性矩阵不等式得到状态反馈增益矩阵和观测增益矩阵.通过对卡车倒车控制的实验仿真,表明当调节因子选取适当时,闭环系统的超调量和震荡次数都有明显减少,选取不当时,超调量和震荡次数都有所增加.因此,通过改变调节因子的值,可以对闭环系统的动态性能进行适当调节.此外,通过引入特殊矩阵,使得判据中含有较少的约束不等式,从而减弱了结论的保守性.     

基于频域的广义预测控制器的鲁棒性分析

推导了广义预测控制器 ( GPC)的闭环反馈结构 ,采用小增益定理获得了存在建模误差( MPM)情况下 GPC鲁棒稳定的一个充分条件。然后在频域内分析了 GPC控制器的参数选择对其鲁棒性的影响。     

两部门增长非线性模型的稳定性

利用Ｔａｙｌｏｒ展开式两部门增长非线性经济系统转化为线性系统,通过特征值方法讨论其稳定性问题,并由此推南了非线性经济系统稳定性的判定依据。     

一类时变非线性扰动不确定系统的时滞独立稳定条件

针对范数有界的非线性不确定系统的稳定性系统,给出了一个保证系统稳定的时滞独立充分条件,并与其它文献中相对保守的边界标准做了一些对比探讨,验证了本文的实用性.     

非线性连续时间系统L1控制的非线性反馈

用集值分析方法研究了仿射非线性连续时间系统具λ-指数收敛率和ρ-性能的L1-控制问题.首先,引入连续时间系统的受控λ-收缩集概念,并建立了与其Euler逼近的离散系统的受控收缩集之间的关系.然后,结合此概念,得到了这个问题有静态连续非线性解的充分条件.这推广了在稳定性意义下文献中的结果.     

压电智能梁振动控制的遗传算法优化设计

应用遗传算法，对用离散分布压电作动－传感元件的智能梁进行振动主动控制，研究其结构优化设计问题。考虑控制增益的影响，以模态阻尼比为优化准则，用罚函数法对非线性约束优化问题的结束条件进行处理，对直接速度负反馈控制系统中的结构参数进行优化。最后，以悬臂梁为例，分别给出不同控制增益下，单点配置问题和多点并置问题的最优解。     

含有非线性终结的三分子自催化统计模型（Ⅰ）

我们建立了一个具有非线性终结的三分子自催化反应的普适模型,考察其中所含的二重非线性终结反应系统的稳定性,本文(Ⅰ)讨论非同种中间产物,同种中间产物在文(Ⅱ)中讨论。本文对非同种中间产物的二重非线性终结反应系统的演化的稳定性及其临界失稳点的涨落特征进行了分析,对其反应扩散方程及非线性主方程定态解和失稳极限的研究表明:异二重非线性终结三分子模型与线性终结的三分子模型的涨落耗散特征有所不同,其热力学分支的稳定条件也有差异,同时还发现该三分子反应系统具有多个失稳极限点。     

分数阶神经元系统的稳定性控制

用一种状态反馈控制器实现对一类非线性分数阶Hindmarsh-Rose(HR)神经元系统的稳定性控制,根据分数阶线性系统的稳定性理论,得出受控制系统稳定的充分条件;最后给出数值模拟,验证定理的结论,并通过分析得到受控系统可通过改变反馈增益系数来扩大系统的稳定域。     

基于非线性传递函数的离散非线性控制系统稳定性研究

基于Ｖｏｌｔｅｒｒａ级数的非线性传递函数表示,首先针对一般的离散非线性多项式系统,给出了它的开环稳定性判据。然后,利用此判据,具体地讨论了几类特殊的离散非线性多项式系统,如纯输入,纯输出,纯交叉系统的开环稳定性判据,最后,用实例仿真来验证此判据的有效性。