一类非线性系统的局部镇定及吸引域估计

研究了一类非线性系统的局部稳定问题,应用中心流形定理,给出了这类非线性系统渐近镇定的充分条件和系统的吸引域估计.设计出镇定系统的反馈控制律,特别研究了一类平面非线性系统,给出了系统镇定的若干条件.通过实例说明选取控制律应注意的一些问题,给出了多个实例,表明结果的有效性.     

Stochastic stabilization analysis of networked control systems

Considering the stochastic delay problems existing in networked control systems, a new control mode is proposed for networked control systems whose delay is longer than a sampling period. Under the control mode, the mathematical model of such a system is established. A stochastic stabilization condition for the system is given. The maximum delay can be derived from the stabilization condition.     

工程混沌及混沌应用的研究现状与展望

混沌广泛存在,工程领域的混沌现象和混沌应用正在引起广大工程界学者的关注.概述了工程中的混沌现象及混沌应用研究的主要进展和研究现状,指出了当前国内外的研究热点以及在控制和通信领域尚待研究的课题,并展望了它们的发展前景.     

JIT生产控制策略的研究现状与发展

深入分析并比较了文献中有关准时制生产系统中生产控制策略的研究工作，主要包括不同控制策略的生产系统模型、模型分析方法、生产系统中看板数的确定和分配。把串联布置的生产系统的研究工作扩展到更为复杂但更符合实际的一般设置的网络生产系统，并且对生产系统中运作管理的策略进行了分析，提出了4种不同的控制策略，在这方面的研究工作已经取得了进展。     

An overview of the development of low gain feedback and low-and-high gain feedback

Low gain feedback refers to certain families of stabilizing state feedback gains that are parameterized in a scalar and go to zero as the scalar decreases to zero. Low gain feedback was initially proposed to achieve semi-global stabilization of linear systems subject to input saturation. It was then combined with high gain feedback in different ways for solving various control problems. The resulting feedback laws are referred to as low-and-high gain feedback. Since the introduction of low gain feedback in the context of semi-global stabilization of linear systems subject to input saturation, there has been effort to develop alternative methods for low gain design, to characterize key features of low gain feedback, and to explore new applications of the low gain and low-and-high gain feedback. This paper reviews the developments in low gain and low-and-high gain feedback designs.     

系统工程与认知工程

本文从系统工程研究领域的扩展和面向系统复杂性的有关理论和方法探讨认知工程的内涵。基于系统工程与计算机技术在解决当代复杂系统问题上的相互支持、互为因果形成了多种门类的人一机系统，阐明认知工程的产生和发展是需求导向和技术驱动的。鉴于它是将人工智能嵌入计算机主流技术研制更高层次智能系统的必要手段，它将是２１世纪智能产业的重要支柱之一。     

Exact Controllability and Stabilization of Networkswith an Interior Point Mass

1IntroductionInrecentyears,therehavebeenmanyinterestingtopicsoncontrolandstabilizationofsocalled"hybridsystems"illwhichthedynamicsystemsandpossiblyrigidstructuresarerelatedthroughsomeformsofcouplillg.Forexample,seeII],[2]fornetworksofstringswithillteriorpointmasses,15],I6]forseriallyconnectedbeams,17],[slforbeamswitllelldmasses.Thereisseriouserrorinwork[l]becausesystem(l.l)illif]isnotm-dissipativeaccordillgtotheenergynormal(l.3)ll].Inthisarticle,wecorrectthemodelof[l]alldgiveanewenergynormal…     

复杂工业过程计算机建模、仿真与控制的综述

复杂工业过程控制是控制科学界的前沿。由于其背景的复杂性、控制对象的可变性 ,至今在实际工程甚至理论上尚未取得实质性进展。因此 ,在复杂环境和任务下的工业过程应当走逐步智能化的道路。在这一智能化进程中 ,试图从复杂工业过程计算机建模、仿真与控制三个方面来探讨其内在实质 ,找出其深层原因 ,同时指出其固有的局限性 ,以助于从事具体科学研究者自觉遵守认识的客观规律。     

滞后广义系统的渐近稳定与镇定

广义系统的渐近稳定与镇定问题是广义系统理论的基本问题之一,在许多领域均有应用,时滞广义系统的研究与无时滞广义系统相比要困难得多。利用广义Lyapunov泛函方法研究了具滞后的广义系统的渐近稳定性和镇定问题,给出了渐近稳定判定定理,设计了适当的反馈律,以实现滞后广义系统的镇定,方法简单,直观,易于理解,给出的例子说明了该定理的可行性。     

Optimal Output Feedback Control and Stabilization for NCSs with Packet Dropout and Delay: TCP Case

This paper considers the output feedback control and stabilization problems for network control systems (NCSs) with packet dropout and input delay, and the TCP (transmission control protocol) case is mainly investigated. Specifically, whether the control signal is lost can be acknowledged by the receiver in the NCSs. The main contributions are: 1) For the finite horizon case, the “optimal” output feedback control is derived by using the dynamic programming approach, and it is noted that the separation principle holds for the considered situation; 2) For the infinite horizon case, for the first time, the necessary and sufficient stabilization conditions are derived for NCSs with packet dropout and delay.     

EXTENDED CASIMIR APPROACH TO CONTROLLED HAMILTONIAN SYSTEMS

In this paper,we first propose an extended Casimir method for energy-shaping.Then itis used to solve some control problems of Hamiltonian systems.To solve the H_x control problem,theenergy function of a Hamiltonian system is shaped to such a form that could be a candidate solution ofHJI inequality.Next,the energy function is shaped as a candidate of control ISS-Lyapunov function,and then the input-to-state stabilization of port-controlled Hamiltonian systems is achieved.Someeasily verifiable sufficient conditions are presented.     

Stabilization and trajectory tracking of autonomous airship's planar motion

The stabilization and trajectory tracking problems of autonomous airship＇s planar motion are studied. By defining novel configuration error and velocity error, the dynamics of error systems are derived. By applying Lyapunov stability method, the state feedback control laws are designed and the close-loop error systems are proved to be uniformly asymptotically stable by Matrosov theorem. In particular, the controller does not need knowledge on system parameters in the case of set-point stabilization, which makes the controller robust with respect to parameter uncertainty. Numerical simulations illustrate the effectiveness of the controller designed.     

离散广义大系统的渐近稳定与镇定

广义大系统的渐近稳定与镇定问题是广义大系统理论的基本问题之一 ,在许多领域均有广泛的应用。广义大系统的研究与广义系统相比困难得多。利用广义Lyapunov函数方法研究了离散广义大系统的渐近稳定与镇定问题 ,给出了渐近稳定的判定定理 ,设计了适当的反馈律 ,以实现离散广义大系统的镇定。该方法简单、直观 ,给出的例子说明了该定理的可行性。     

ROBUST STABILIZATION OF SYSTEM WITHNUMERATORAL FACTOR PERTURBATION

1.IntroductionIntherecenttwodecades,robuststabilizationproblemoffixedlinearsystemswithunstructureduncertaintieshavearousedtheinterestofmanyresearchers.Especilly,theHadcontrolmethodadvancedbyZamesll]yieldedmanyworthwhileresultsforsolvingtheproblems.Theunstructureduncertaintiesofsystemsareconcernedwithsuchuncertaintiesaboutwhichweknownothingexceptfortheupperborderofthem.Generallyspeaking,therearethreemaintypesoftheunstructureduncertainties'additiveuncertainty,multiplicativeuncedaintyjcoprimefac…     

基于自适应反演方法的自主水下航行器控制

针对高速自主水下航行器,设计了垂直面内的自适应控制器。大多数自主水下航行器的深度控制都基于小俯仰角假设,但在某些情况下此假设可能会产生较大的模型误差,甚至会导致严重的后果。考虑水下航行器的未知参数和非线性,并且不对俯仰角作任何假设,设计了自适应反演控制器,使闭环系统的深度跟踪具有全局渐近稳定性。仿真表明,该控制器对模型不确定性具有较强的鲁棒性,并且明显优于传统的内外环结构的比例积分微分(proportional integral differential, PID)控制器。     

虚拟框架和模糊数学用于修正数学模型

应用中的数学模型一般需经常加以修改 ,才能满足实际要求。当一个模型已用程序实现后 ,必须设法在现有程序及其计算结果的基础上加以完善 ,才能事半功倍。为此 ,提出一种将力学中的虚拟框架位移分析方法和模糊数学相结合对数学模型进行修正的新方法。此方法被用于某化工厂的温度控制问题 ,结果表明方法简捷有效     

Parallel simultaneous stabilization of a set of Port-Controlled Hamiltonian systems subject to actuator saturation

This paper investigates parallel simultaneous stabilization (PSS) of a set of multi-input nonlinear Port-Controlled Hamiltonian (PCH) systems subject to actuator saturation (AS), and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.     

捷联式天线平台双通道耦合目标跟踪滤波器设计与仿真研究

采用传统速率陀螺稳定平台的导引头角跟踪系统可以直接提取用于比例导引的惯性视线角速率，而采用捷联稳定方案后，天线平台的角跟踪系统失去了直接测定视线角速率的能力，视线角速率需要通过数字计算的方法来提取。同时由于视线的旋转，实际的角跟踪系统方位和俯仰两个通道之间存在交叉耦合，与速度跟踪系统之间也具有参数耦合关系。针对上述问题，提出双通道耦合目标跟踪滤波器的设计方法，并在考虑与捷联稳定控制系统及速度跟踪系统信息相互融合的情况下，对整个角跟踪系统进行了闭环仿真，对捷联式天线平台角跟踪系统的性能进行了系统的分析。结果表明：角跟踪系统方位与俯仰通道滤波值能很好跟踪真值，提出的设计方法在捷联式天线平台角跟踪系统中的应用是有效的。     

不确定时滞系统的指数稳定保代价可靠控制

针对一类含有时变时滞的不确定参数系统,研究了在执行器发生故障情况下系统指数稳定保代价可靠控制器设计问题。系统的性能函数是含有指数项和故障输入项的积分二次型函数。经过适当的状态变换,将原系统的指数稳定保代价可靠控制问题转化为另一个等价系统的保代价可靠控制问题。根据Lyapunov稳定性理论,得到了系统存在指数稳定保代价可靠控制器应满足的一个矩阵不等式,进一步将这个矩阵不等式转化为线性矩阵不等式(LMI),并给出了系统的保代价表达式。利用论文方法设计的控制器能够使得时滞系统对于任意允许的不确定量以及执行器故障都保持鲁棒可靠指数稳定,并且使系统具有保代价的性能指标。仿真结果表明了该控制器设计方法的有效性。     

Social or Individual Learning? An Aggregated Solution for Coordination in Multiagent Systems

There are mainly two different ways of learning for animals and humans: trying on yourself through interactions or imitating/copying others through communication/observation. How these two learning strategies differ and what roles they are playing in achieving coordination among individuals are two challenging problems for researchers from various disciplines. In multiagent systems, most existing work simply focuses on individual learning for achieving coordination among agents. The social learning perspective has been largely neglected. Against this background, this article contributes by proposing an integrated solution to decision making between social learning and individual learning in multiagent systems. Two integration modes have been proposed that enable agents to choose in between these two learning strategies, either in a fixed or in an adaptive manner. Experimental evaluations have shown that these two kinds of leaning strategies have different roles in maintaining efficient coordination among agents. These differences can reveal some significant insights into the manipulation and control of agent behaviors in multiagent systems, and also shed light on understanding the social factors in shaping coordinated behaviors in humans and animals.