一类多关节机器人系统的模糊滑模控制算法仿真

针对具有参数不确定性的多关节机器人动力学系统，提出了一种基于模糊逻辑的滑模控制方案。该方案采用模糊滑模跟踪控制设计，柔化了控制信号，减轻了一般滑模控制的抖振现象。利用李亚普诺夫定理证明了闭环模糊控制系统的稳定性和跟踪误差、控制信号的有界性。仿真结果表明了所提出的控制策略是有效的。     

Establishing formal state space models via quantization forquantum control systems

1.INTRODUCTION Quantumtheoryisoneofthemostimportantachieve mentsinthe20thcentury,anditdisclosesthestruc tures,characteristicsandmotionlawsofmatterinthe microcosmicfieldandleadsusfromthemacroscopical worldintomicrosystems.Aseriesofnewphenomena whicharedifferentfromclassicalsystemshavebeen discovered,suchasquantumentanglement,quantum coherenceanduncertainty.Meanwhile,quantum theoryandquantummethodsarealsowidelyusedin differentfieldssuchaschemicalreaction,geneticen gineering,atomicphysicsandi…     

线性脉冲时滞微分方程解的稳定性

通过对一类n阶线性脉冲时滞微分方程零解稳定性的讨论，建立了零解稳定性的比较结果，给出了零解一致稳定、渐近稳定与指数稳定的充分条件．所得结论推广了相关结果。     

求解非结构四边形二次拉格朗日有限元方程的代数多重网格法

针对一类带间断系数的椭圆边值问题,在非结构四边形部分下,讨论了两种二次拉格朗日有限元方程的代数多重网格法,通过利用双线性元和二次元基函数之间的表示关系,给出了一种新的网格粗化算法和构造提升算子的代数途径.数值实验表明:新的AMC法具有更好的“鲁棒”性和效率.     

刚性Volterra泛函微分方程算法理论及高效算法

首先介绍刚性Volterra泛函微分方程的稳定性理论及其数值方法的B理论。这项工作为刚性延迟微分方程、刚性积分微分方程以及其它各种类型的刚性泛函微分方程的研究提供了统一的理论基础。其次以该理论为指针推荐高效算法，其中包括向后Euler方法、二阶BDF方法、并行多值混合方法及实特征值多步Runge—Kutta法。     

FORWARD-BACKWARD STOCHASTIC DIFFERENTIAL EQUATIONS, LINEAR QUADRATIC STOCHASTIC OPTIMAL CONTROL AND NONZERO SUM DIFFERENTIAL GAMES

In this paper, we use the solutions of forward-backward stochastic differential equations to get the explicit form of the optimal control for linear quadratic stochastic optimal control problem and the open-loop Nash equilibrium point for nonzero sum differential games problem. We also discuss the solvability of the generalized Riccati equation system and give the linear feedback regulator for the optimal control problem using the solution of this kind of Riccati equation system.     

H∞ control for stochastic systems with time-delay

The H∞-control problem of stochastic systems with time-delay is considered. The sufficient conditions are obtained, under which there are always state-feedback control and dynamic output-feedback control so that the resulting closed-loop system is internaly stable and L2 input-output stable in the sense of expectation. Furthermore, the explicit formulas of both kinds of controls are derived. An example is included to illustrate the correctness of theoretic results.     

四阶微分方程广义第二特征值的上界估计

考虑四阶微分方程广义第二特征值的上界估计，利用试验函数、Rayleigh定理、分部积分、Schwartz不等式和Young不等式等估计方法与技巧，获得了用第一特征值来估计第二特征值上界的不等式，其估计系数与区间的度量无关．     

二元分形插值函数的不定积分

介绍了矩形区域上由迭代函数系(iterated function system,IFS)生成的二元分形插值函数的不定积分.首先证明二元插值函数的不定积分也是由迭代函数系迭代生成的,并得到了其迭代函数系.其次,证明了二元插值函数的不定积分的2阶混合偏导数等于其二元插值函数本身的充要条件,并推广到2N阶的情形.