基于模糊神经网络的多传感器自适应融合

针对非线性、大时滞的复杂工业控制系统中单传感器信息检测的单一性和不全面性,提出了一种新的基于模糊神经网络的多传感器自适应融合的方法.根据采用的多传感器是检测同一信息还是多源信息,提出了相应的两种结构模型,这种采用多传感器自适应融合的控制方法具有较强的容错性,较高的检测与控制的精度,因而增强了系统的灵活性和智能性.仿真结果表明了所提模型和方法的有效性.     

量测噪声情况下基于自适应D-S证据推理的滑模控制

在滑模控制中 ,当状态量测传感器存在噪声时 ,控制器不能获得准确的滑模函数信息。面向一类不确定非线性系统 ,根据滑模控制依赖滑模函数符号的特点 ,提出利用基于Dempster Shafer证据推理的多传感器信息融合方法 ,其作用是压缩滑模函数符号的不确定性 ,并基于闭环原理给出了对信息融合结果进行自适应补偿的改进方法。仿真表明了该方法的有效性。     

基于RBF辨识的伺服系统CMAC控制

提出一种基于RBF辨识的伺服系统CMAC复合控制器,并进行了仿真研究。采用RBF神经网络辨识被控对象模型,根据辨识结果调节单神经元控制器的参数,由单神经元PID控制器与小脑模型前馈控制器组成复合控制结构,通过搜索使控制器尽快地进入合适的参数空间,实现了控制的快速性要求。仿真结果表明,该控制方法能够缩短系统暂态响应时间,提高系统的动态跟踪精度,增加系统鲁棒稳定性。     

一种扩展的直接航迹融合方法研究

在分布式多传感器数据融合系统中,各单传感器类型不同情况下的融合问题是一类普遍的问题。本文从直接航迹融合算法的推导过程提出了一种解决这一类问题的方法,包括融合状态设定方法、基于最大似然估计的方法。     

基于协作表示的雷达辐射源多传感器融合识别

针对接收通道噪声影响和传感器引起的信号畸变,仅提高单传感器的识别性能远不能满足需求,提出了一种基于协作表示的雷达辐射源多传感器融合识别方法。首先,在训练阶段构成离线的完备字典,而多个传感器的接收信号在字典上求得协作表示系数及分类残差。接着通过设计合理的基本概率分配函数,将多传感器的分类残差与单元素事件的D-S理论相结合,根据最大信任决策规则得到融合识别结果。采用常见的6种雷达辐射源信号进行了仿真实验,仿真结果验证了提出方法的有效性,且较单传感器提高了识别性能,具有较好的噪声鲁棒性,适用于小样本的识别。     

基于动态RBF神经网络在线辨识的单神经元PID控制

针对工业控制领域中复杂非线性时变系统,提出了基于动态RBF神经网络辨识的单神经元PID控制方法。采用动态RBF神经网络辨识器在线辨识系统模型,获得PID参数在线调整信息,并由单神经元PID控制器完成控制器参数的在线自整定,实现系统的智能控制。仿真结果表明,与常规RBF神经网络辨识的PID控制方法相比,该方法具有控制精度高、响应速度快的优点,并且具备较强的自适应性和鲁棒性。     

多传感器基于证据理论的机载雷达用途识别

雷达用途识别是分析雷达型号和进行威胁评估的基础。在简要阐述D S证据理论基本概念的基础上 ,较系统地论述了基于D S证据理论的多传感器机载雷达用途识别的信息融合方法。该方法同时采用多个传感器 ,并且每个传感器进行多个周期的测量 ,然后利用多传感器多测量周期的信息 ,基于Dempster组合规则 ,采用中心式融合算法 ,对机载雷达用途进行识别。识别实例表明 ,该方法识别结果令人满意 ,使原来采用单一传感器可能存在的无法识别或误识别等现象得到了明显的改善。     

基于汉语手指语字母识别的手指角度模糊融合

以汉语手指语拼音字母为研究对象,根据自行研制的数据手套CAS_Glove上传感器的特点,采用了弯曲传感器和外展传感器先后分别进行模糊融合的策略。针对弯曲传感器的模糊融合,提出一种分类融合方法,分别采用弱t模算子和弱t共模算子,再对其结果进行转换,最后用MICA算子进行弯曲传感器的最终融合。针对外展传感器融合的特点,使用了弱t模算子。通过和其它模糊融合方法的实验对比,证明该方法在数据手套进行角度融合时,优于其它模糊融合方法。     

随机时延网络控制系统的Markov建模及H∞控制

利用Markov跳变理论讨论了一类具有随机时延以及数据包丢失的网络控制系统的建模方法.其中,系统中的传感器、控制器采用时间驱动,执行器采用事件驱动,传感器的数据采用单包传榆.针对网络控制系统被控对象状态无法直接测量得到的问题,提出了一种静态输出反馈H∞控制器设计方法;根据线性矩阵不等式相关理论,通过建立和求解一个凸优化问题,得出了静态输出反馈H∞曩优控制律.最后,用仿真例子验证了该方法的可行性以及理论的正确性.     

基于神经网络数据融合的目标跟踪简化算法

分析了基于神经网络数据融合的目标跟踪的算法 ,指出了传统的融合算法计算量大 ,神经网络目标向量不易选取等缺点。提出了一种简化的算法。应用理论分析和蒙特卡洛仿真方法 ,对标准卡尔曼滤波算法和简化的滤波算法进行比较 ,并给出了均方根误差的统计值。该简化算法原理简单 ,数据处理量小 ,速度快 ,误差小 ,特别适用于多传感器的处理 ,将融合结果反馈给单传感器 ,可提高各单传感器的跟踪精度。     

随机时延网络控制系统的鲁棒H∞状态反馈控制

研究了含有双随机时延的不确定网络控制系统的鲁棒H_∞状态反馈控制问题。将传感器到控制器和控制器到执行器的网络时延建模为相互独立的连续时间离散状态的马尔可夫随机过程。基于此网络环境,构造时延依赖的控制器,将不确定网络控制系统转化为马尔可夫跳变系统。通过Lyapunov Krasovskii泛函方法和新的矩阵不等式技术,给出了系统随机稳定且满足H_∞性能的充分条件,并以矩阵不等式形式给出了相应的控制器设计方法。最后,给出了仿真算例,验证了该方法的有效性。     

Stochastic Channel Allocation for Nonlinear Systems with Markovian Packet Dropout

This paper addresses a channel scheduling problem for group of dynamically decoupled nonlinear subsystems with actuators connected through digital communication channels and controlled by a centralized controller. Due to the limited communication capacity, only one channel can be activated and hence there is only one pair of sensor and actuator can communicate with the controller at each time instant. In addition, the communication channels are not reliable so Markovian packed dropout is introduced. A predictive control framework is adopted for controller/scheduler co-design to alleviate the performance loss caused by the limited communication capacity. Instead of sending a single control value, the controller sends a sequence of predicted control values to a selected actuator so that there are control input candidates which can be fed to the subsystem when the actuator does not communicate with the controller. A stochastic algorithm is proposed to schedule the usage of the communication medium and sufficient conditions on stochastic stability are given under some mild assumptions.     

New robust fault-tolerant controller for self-repairing flight control systems

A new robust fault-tolerant controller scheme integrating a main controller and a compensator for the self-repairing flight control system is discussed. The main controller is designed for high performance of the original faultless system. The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system. A design method is proposed using nonlinear dynamic inverse control as the main controller and nonlinear extended state observer-based compensator. The stability of the whole closed-loop system is analyzed. Feasibility and validity of the new controller is demonstrated with an aircraft simulation example.     

基于网络控制系统的H∞鲁棒控制

针对控制器与执行器均为事件驱动、传感器为时间驱动、时延不确定且不大于一个采样周期的网络控制系统,建立了其在单包传输下的离散模型。基于Lyapunov函数和线性矩阵不等式(LMI)方法,分析了闭环系统的鲁棒稳定性,导出了闭环系统渐近稳定且满足给定H_∞性能指标的充分条件。通过仿真算例,证明了分析方法和结果的有效性。     

Research on robust mean square stability of networked control systems with packet dropout

This paper is concerned with the robust stabilization problem of networked control systems with stochastic packet dropouts and uncertain parameters. Considering the stochastic packet dropout occuring in two channels between the sensor and the controller, and between the controller and the actuator, networked control systems are modeled as the Markovian jump linear system with four operation modes. Based on this model, the necessary and sufficient conditions for the mean square stability of the deterministic...     

H_∞-based fault detection for nonlinear networked systems with random packet dropout and probabilistic interval delay

The fault detection problem for the nonlinear networked control system(NCS) with packet dropout and delay is investigated.A nonlinear stochastic system model is proposed to account for the NCS with random packet dropout and networkinduced non-uniformly distributed time-varying delay in both from sensor to controller(S/C) and from controller to actuator(C/A).Based on the obtained NCS model,employing an observer-based fault detection filter as the residual generator,the addressed fault detection problem is converted into an auxiliary nonlinear H∞ control problem.Then,with the help of Lyapunov functional approach,a sufficient condition for the desired fault detection filter is constructed in terms of certain linear matrix inequalities,which depend on not only the delay interval but also the delay interval occurrence rate and successful packet communication rate.Especially,a trade-off phenomenon between the maximum allowable delay bound and successful data packet transmission rate is found,which is typically resulted from the limited bandwidth of communication networks.The effectiveness of the proposed method is demonstrated by a simulation example.     

基于控制Lyapunov函数新性质的逆最优控制

利用控制Lyapunov函数的新特性,对非线性仿射系统进行了逆最优控制器的设计,进一步改进了基于控制Lyapunov函数的控制器的性能,并且该控制器对于一定范围的输入不确定性具有鲁棒性。将结论用于陈氏混沌系统不稳定平衡点的渐近稳定控制律的设计中,理论分析与仿真结果证明了该方法的有效性与实用性。     

Uniformed model of networked control systems with long time delay

Feedback control systems wherein the control loops are closed through a real-time network are called networked control systems （NCS）. The defining feature of an NCS is that information is exchanged using a network among control system components. Two new concepts including long time delay and short time delay are proposed. The sensor is almost always clock driven. The controller or the actuator is either clock driven or event driven. Four possible driving modes of networked control systems are presented. The open loop mathematic models of networked control systems with long time delay are developed when the system is driven by anyone of the four different modes. The uniformed modeling method of networked control systems with long time delay is proposed. The simulation results are given in the end.     

具有状态和控制时滞系统的鲁棒容错控制研究

研究一类不确定时滞系统的鲁棒容错控制问题。针对既有状态滞后,又有控制输入滞后,且假定状态和控制输入的不确定项均是范数有界的线性系统,通过引入无记忆状态反馈控制器,基于Lyapunov稳定性理论和LMI方法,给出了一个在传感器完全失效或执行器完全失效故障情况下具有鲁棒容错性能的充分条件,并用求解线性矩阵不等式组方便地得到容错控制器设计结果。最后用算例验证了该设计方法的有效性和可行性。