2D system approach based output feedback repetitive control for uncertain discrete-time systems

This paper presents a two-dimensional (2D)-based approach to the problem of output feedback repetitive control for uncertain discrete-time systems. It is shown first how the proposed repetitive control scheme can be equivalently formulated in the form of a distinct class of 2D system. Then sufficient conditions for the existence of output feedback control law are derived in terms of linear matrix inequality (LMI), and the control law matrices are characterized by the feasible solutions to this LMI. Moreover, an optimization problem is introduced to efficiently solve the optimal output feedback control law by minimizing the upper bound of a given cost function. Compared with the commonly used 1D-based method, the proposed approach increases the degree of freedom of controller design by not only including in the scheme an output feedback gain but also a feed forward one which can be simultaneously solved using the 2D-based procedures presented in the paper. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed method.     

Parameter identification and design of a robust attitude controller using <Emphasis Type="Italic">H</Emphasis><Subscript>∞</Subscript> methodology for the raptor E620 small-scale helicopter

Rigorous control synthesis for an unmanned aerial vehicle necessitates the availability of a good, reasonable model for such a vehicle. The work reported in this paper focuses on the modeling of a rotary unmanned aerial vehicle (RUAV) and the development of a robust controller that can handle parameter uncertainties and disturbances. The parameters of the plant model are obtained through the use of the prediction error method with real flight data. The response of the identified linear model shows a good match with the measured flight data. The H _∞ control scheme is applied to obtain a robustly stable controller using the identified model. The proposed controller is analyzed using frequency-domain analysis and time-domain simulations. The performance of the proposed H _∞ controller is better than that of the conventional proportional derivative controller in that the proposed controller has a shorter settling time and less overshoot. Furthermore, the degradation of the proposed controller performance is negligible and stability is maintained when the input gains to the plant are doubled, which demonstrates the good performance and robustness of the controller.     

Analysis of gene expression programming for approximation in engineering design

To reduce the computational cost of implementing computer-based simulations and analyses in engineering design, a variety of metamodeling techniques have been developed and used for the construction of metamodels. Metamodels, also called approximation models and surrogate models, can be used to make a replacement of the expensive simulation codes for design and optimization. In this paper, gene expression programming (GEP) algorithm in the evolutionary computing area is investigated as an alternative metamodeling technique to provide the approximation of a design space. The approximation performance of GEP is tested on some low-dimensional mathematical and engineering problems. A comparative study is conducted on GEP and three common metamodeling techniques in engineering design (i.e., response surface methodology (RSM), kriging and radial basis functions (RBF)) for the approximation of the low-dimensional design space. Multiple evaluation criteria are considered in the comparison: accuracy, robustness, transparency and efficiency. Two different sample sizes are adopted: small and large. Comparative results indicate that GEP can achieve the most accurate and robust approximation of a low-dimensional design space for small sample sets. For large sample sets, GEP also presents good prediction accuracy and high robustness. Moreover, the transparency of GEP is the best since it can provide clear function relationships and factor contributions by means of compact expressions. As a novel metamodeling technique, GEP shows great promise for metamodeling applications in a low-dimensional design space, especially when only a few sample points are selected and used for training.     

An investigation into vehicle rollover prevention by coordinated control of active anti-roll bar and electronic stability program

This paper presents a method for designing a controller that uses an active anti-roll bar (AARB) and an electronic stability program (ESP) for rollover prevention. ESP with longitudinal speed control (LSC) can carry out active braking to reduce vehicle speed and lateral acceleration to prevent a rollover. To enhance the rollover prevention capability of the ESP, an AARB is adopted. The controller for the AARB was designed based on linear quadratic (LQ) static output feedback (SOF) control methodology, which attenuates the effect of lateral acceleration on the roll angle and roll rate by control of the suspension stroke and the tire deflection of the vehicle. Although this AARB significantly increases ride comfort and rollover prevention, it has a drawback — the vehicle loses its maneuverability. Therefore, the ESP with LSC is used to overcome this drawback. Simulations showed that the proposed method was effective in preventing a rollover.     

Preparation and properties of close-packed composite materials

Monodisperse silica particles of about 0.3m diameter are suspended in methacrylate monomer using a carefully selected dispersant. Many steric dispersants are hydrocarbon chains with a reactive end-group. These are not effective as dispersants for silica in moderately polar solvents, such as esters and the methacrylate monomers. Good dispersion was obtained with a methacrylate polymer terminated by a chlorosilane end group. Settling or centrifugation of these unagglomerated dispersions gives well-packed particle beds. Polymerization of the surrounding monomer produces composite materials with high packing fractions and a high degree of regularity. Moduli and strengths of these composites are reported.     

一个PASCAL结构编辑器的设计与实现

本文对一个新的PASCAL结构编辑编辑器PSE（PASCAL Structured Editor）的系统结构和功能进行了概括的描述。在设计和实现PSE时,作者提出了一种新的程序内部表示法,即所谓“文本-树”表示。与以往的程序内部表示相较,这种表示方法具有占用内存量小,光标控制及编辑操作简便以及无须进行内部语法树与行式文件间的转换等特点。实践证明,基于此种表示的语法制导编辑器是易于实现的,其工作效率是较高的。     

CATV系统设计要点(连载Ⅰ)CATV总体设计

本文论述在CATV系统设计中需要着重考虑的几个问题,诸如:系统组成方案,系统载噪比、交调比的分配,对用户电平的考虑,均衡器的使用,放大器输出电平的“倾斜”,大型系统对策,等等。     

Deciding bisimilarity is<Emphasis Type="Italic">P</Emphasis>-complete

In finite labelled transition systems the problems of deciding strong bisimilarity, observation equivalence and observation congruence areP-complete under many—oneNC-reducibility. As a consequence, algorithms for automated analysis of finite state systems based on bisimulation seem to be inherently sequential in the following sense: the design of anNC algorithm to solve any of these problems will require an algorithmic breakthrough, which is exceedingly hard to achieve.     

基于码本模型和多特征的早期烟雾检测

提出一种基于码本模型和多特征的早期烟雾检测算法。首先,利用码本模型进行前景提取;然后,结合烟雾的颜色模型和形状特征模型检测前景中的疑似烟雾区域;最后,利用烟雾的动态特性,有效地降低误检率,提高算法的鲁棒性。通过ROC曲线对比,实验结果表明,该算法具有良好的烟雾检测能力。同时,能够满足实时性要求,具有较高的实用价值。     

未知环境下机器人障碍物检测技术

未知环境下地面的不平坦性和机器人相对障碍物位姿的不确定性会造成障碍物特征提取困难,为了准确检测障碍物特征,采用3维相机获取机器人周围环境的灰度图像和距离信息。在此基础上,提出基于灰度信息和3维信息的"阈值法"进行障碍物区域的提取,并针对3维信息"阈值法"剔除的地面与障碍物过渡区域过多,以及机器人相对斜坡方位的不确定性引起的障碍物特征检测不准确,提出区域的恢复算法和表面法线坡度计算。实验结果表明,所提出的算法具有简单、有效、准确和鲁棒性强的优点。