完整保守力学系HL函数表示的运动微分方程

本文给出完整保守力学系统用Ｈ函数和Ｌ函数联合表示的运动微分方程讨论该方程的运动积分和方程的不变性。     

非完整可控力学系统的形式不变性

研究非完整可控力学系统的形式不变性,建立系统的运动方程和形式不变性判据方程,得到系统方程保持形式不变性的条件以及守恒量的形式,举例说明结果的应用。     

拟双曲一致域与弱拟对称映射

根据拟双曲一致域和拟对称映射的基本性质,利用拟双曲度量作为研究的重要工具,主要讨论了度量空间中拟双曲一致域的几何性质,同时刻画了拟双曲一致域在弱拟对称映射下仍然是保持不变的.     

基于被动行走原理的双足机器人步态规划

为解决四连杆双足机器人的平面步态规划问题, 提出基于被动行走的平面步态规划。基于3毅向下坡面完全被动行走的动力学方程, 利用角度不变控制方法施加控制力矩, 得到机器人在水平面上的动力学模型。结合常数时间放缩方法对平面参考轨迹进行时间放缩, 得到机器人在水平面上步幅不变, 周期可变的行走步态。通过Matlab 软件数值仿真结果表明, 该研究方法是可行、有效的。     

Reverberation nulling and echo enhancement at low frequency using waveguide invariance

Based on the fact that the transfer function vector between a source receiver array and the dominant scatterer of boundary reverberation at a range can be obtained from the corresponding reverberations scattered from this range cell, a reverberation nulling concept using time reversal processing has been proposed. However, current reverberation nulling methods have certain limitations when applied into practice, which would null boundary reverberation and target echo simultaneously. As a solution, a passive reverberation nulling and echo enhancement method at low frequency using waveguide invariance is proposed in this paper. In this method, the reverberation subspace for the target range cell is not obtained directly from the return signals scattered by the target range cell but from the return signals scattered by a range cell located before the target using waveguide invariance, so as to suppress the reverberation embodied in the target echo by passive reverberation nulling. Besides, a range-dependent optimal weighting vector rather than conventional projector matrix is deduced to null the reverberation component meanwhile maximizing the target echo, thereby enhancing the echo-to-reverberation ratio furthest. Numerical simulations in typical range-independent shallow water environment demonstrate the efficacy and the improved performance of the proposed method for echo-to-reverberation enhancement.     

一般非线性系统的鲁棒适应控制

主要对结构不确定性中含有未知参数和未知非线性函数的非线性系统,在参数上界未知的情况下,对参数进行在线估计,设计出适应控制器.     

基于Petri网的离散事件系统控制理论

建立在Ｐｅｔｒｉ网逻辑模型上的离散事件系统控制理论是近年来发展起来的离散事件系统控制理论的重要组成部分，具有适应面广和易于实用化的特点，本文首先介绍该理的Ｐｅｔｒｉ网模型，然后概述该理论的主要成果。     

定域Scale和规范不变理论的量子化

在Riemann空间中,利用推广的Faddeev-Popov理论,讨论了具有定域Scale不变性和规范不变性理论的量子化。整个讨论过程具有广义协变性。