层叠CMAS补偿的并联机器人变结构控制研究

针对复杂机器人系统的不确定性，提出一种层叠小脑模型关节控制器（CMAC）神经网络同滑模变结构相结合 的控制策略。首先利用改进CMAC学习机器人系统的不确定信息，并作为前馈补偿来确保跟踪误差的快速收敛，再通过滑模变结构控制器消除CMAC网络的逼近误差和不可重复随机干扰的影响。采用Lyapunov直接法进行控制律选取，分析表明系统可实现全局渐近稳定。在6－6并联机器人的轨线跟踪仿真试验中显示了良好的鲁棒性和精确性。     

A Class of Optimization Method for Bilevel Multi-objective Decision Making Problem with the Help of Satisfactoriness

1　 IntroductionWe discuss the following bilevel multi-objective decision making problemmaxx F( x,y) ( 1 a)s.t. G( x,y)≤ 0 ( 1 b)maxyifi( x,yi) ,　 i =1 ,… ,p ( 1 c)s.t. gi( x,gi)≤ 0 ,　 i =1 ,… ,p ( 1 d)where F( x,y) =( F1 ( x,y) ,… ,FM( x,y) ) ,M≥ 2 .x=( x1 ,x2 ,… ,x N) Tand yi=( yi1 ,… ,yin) Tstand for the decision variable of the upper-level decision maker and the decision variable ofthe lower-level i-th decision making unit;y=( y T1 ,… ,y Tp) T;letn =∑pi=1ni;F∶ Rn N → RM…     

Relation Entropy and Transferable Entropy Think of Aggregation on Group Decision Making

1　 IntroductionThere are many methods in studying uncertainty,and among them the sets pair analysis isa new method. It is used widely in many fields,such as behavior science,social science,managementscience and so on,and the effectis especially betterin decision making.″Setspair″means the combination of two sets having some relation.In the view of systemscience,any two parts of system can be considered as a sets pair in certain condition,suchas system and circumstance,system and people,betw…     

A Decision Support System for Identification and Evaluation of High—tech Products

1　 IntroductionNowadays most countries in the world are trying their best to develop high-tech as themost important way to help the rapid growth of their economy and to strength theircompetitive advantage.In recent years,the high-tech industries in our country have beendeveloping rapidly and they have become great power to stimulate our economic growth.In order to make our high-tech industries develop further,we must make a good job ofidentification and evaluation of high-tech products.Butpeo…     

An Approximate Algorithm for a Class of Nonlinear Bilevel Integer Programming

The algorithm for a class of nonlinear bilevel integer programming is discussed in this paper. It is based on the theory and algorithm for nonlinear integer programming. The continuity methods for integer programming are studied in this paper. After simulated annealing algorithm is applied to the upper-level programming problem and the thought of filled function method for continuous global optimization is applied to the corresponding lower-level programming, an approximate algorithm is established. The satisfactory algorithm is elaborated in the following example.     

The Risk Evaluation of the Implement for Enterprise E—Business

In this paper, risk evaluation index system of electronic business is put forward for core manufactures. At the same time, risk evaluation method is established on the basis of fuzzy mathematics and grey theory, and its effectiveness and feasibility are tested in the practical example.     

Nonsynchronous Trading Model and Return Analysis

Nonsynchronous trading is one of the hot issues in financial high-frequency data processing. This paper extends the nonsynchronous trading model studied in [1] and [2] for the financial security, and considers the moment functions of the observable return series for the extended model. At last. the estimators of parameters are obtained.     

A Novel Robust Adaptive Fuzzy Controller

For a class of continuous-time nonlinear system, a novel robust adaptive fuzzy controller is proposed by using of Lyapunov method. It is proven that the control algorithm is globally stable, the output tracking-error can convergence to a domain of zero under the assumptions. As a result, the system controlled has stronger robustness for disturbance and modeling error.     

Global Stabilization of Nonlinear Systems with Byrnes—Isidori Normal Form

1　IntroductionThe problem of the asymptotic stabilization of minimum phase nonlinear systems viasmooth state feedback has been well studied in[1— 6 ].One major methodology is by useof the nonlinear analog of the nonlinear zero dynamics notion so that,un…     

加强对大学生价值取向的教育和引导—对我省高校学生价值取向现状的调查和思考

文中通过对大学生价值取向现状的调查分析，针对学生中存在的问题，就如何加强价值取向的引导和教育进行了讨论。