Adaptive proportional integral differential control based on radial basis function neural network identification of a two-degree-of-freedom closed-chain robot

A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper presents an adaptive proportional integral differential （PID） control algorithm based on radial basis function （RBF） neural network for trajectory tracking of a two-degree-of-freedom （2-DOF） closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method.

A differential control method for the proportional directional valve

For the proportional directional valve controlled by two proportional solenoids, the normal control method(NCM) energizes only one solenoid at a time. The performance of the valve is greatly influenced by the nonlinearity of the proportional solenoid, such as dead zone and low force gain with a small current, and this effect cannot be eliminated by a simple dead-zone current compensation. To avoid this disadvantage, we propose the differential control method(DCM). By employing DCM, the controller outputs differential signals to simultaneously energize both solenoids of the proportional valve, and the operating point is found by analyzing the force output of the two solenoids to make a minimum variation of the current force gain. The comparisons of the valve response characteristics are made between NCM and DCM by nonlinear dynamic simulation and experiments. Simulation and experimental results show that by using DCM, the frequency response of the valve is greatly enhanced, especially when the input is small, which means that the dynamic characteristics of the proportional valve are improved.

Strike-Slip Faults and Their Control on Differential Hydrocarbon Enrichment in Carbonate Karst Reservoirs: A Case Study of Yingshan Formation on Northern Slope of Tazhong Uplift, Tarim Basin

Objective Oil and gas are abundant in the Ordovician Yingshan Formation carbonate karst reservoirs on the northern slope of Tazhong uplift in the Tarim Basin, and have extremely complicated oil-gas-water distribution, however. The difference in burial depth of the reservoirs between east and west sides is up to 1000 m. Water-bearing formations exist between oil- and gas-bearing formations vertically and water-producing wells are drilled between oil- and gas-producing wells. Macroscopically, oil and gas occur at low positions, while water occurs at high positiona on the northern slope of Tazhong uplift. The mechanism of differential hydrocarbon enrichment in heterogeneous reservoirs is by far not clarified, which has affected the efficient exploration and development of oil and gas fields in this area.

An Artificial Approach for the Fractional Order Rape and Its Control Model

The current investigations provide the solutions of the nonlinear fractional order mathematical rape and its controlmodel using the strength of artificial neural networks(ANNs)along with the Levenberg-Marquardt backpropagation approach(LMBA),i.e.,artificial neural networks-Levenberg-Marquardt backpropagation approach(ANNs-LMBA).The fractional order investigations have been presented to find more realistic results of the mathematical form of the rape and its control model.The differential mathematical form of the nonlinear fractional order mathematical rape and its control model has six classes:susceptible native girls,infected immature girls,susceptible knowledgeable girls,infected knowledgeable girls,susceptible rapist population and infective rapist population.The rape and its control differential system using three different fractional order values is authenticated to perform the correctness of ANNs-LMBA.The data is used to present the rape and its control differential system is designated as 70%for training,14%for authorization and 16%for testing.The obtained performances of the ANNs-LMBA are compared with the dataset of the Adams-Bashforth-Moulton scheme.To substantiate the consistency,aptitude,validity,exactness,and capability of the LMBA neural networks,the obtained numerical values are provided using the state transitions(STs),correlation,regression,mean square error(MSE)and error histograms(EHs).

A new approach to detecting weak signal in strong noise based on chaos system control

In this paper, a chaos system and proportional differential control are both used to detect the frequency of an unknown signal. In traditional methods the useful signal is obtained through the Duffing equation or other chaotic oscillators. But these methods are too complex because of using a lot of chaos oscillators. In this paper a new method is presented that uses the Rossler equation and proportional differential control to detect a weak signal frequency. Substituting the detected signal frequency into the RSssler equation leads the Rossler phase state to be considerably changed. The chaos state can be controlled through the proportional differential method. Through its phase diagram and spectrum analysis, the unknown frequency is obtained. The simulation results verify that the presented method is feasible and that the detection accuracy is higher than those of other methods.

CONTROLLABILITY OF DELAY DEGENERATE CONTROL SYSTEMS WITH INDEPENDENT SUBSYSTEMS

The controllability of delay degenerate differential control systems is discussed. Firstly, delay degenerate differential control system was transformed to be canonical form, and the connected terms were gotten rid of, had delay degenerate differential control systems with independent subsystems. For the general delay degenerate differnetial control systems, it was gotten that the necessary and sufficient condition of that they are controllable is that their reachable set is equal to the whole space. For the delay degenerate differential control systems with independent subsystems, it was gotten that the necessary and sufficient conditions of that they are controllable are that their reachable sets are equal to their corresponding subspaces. Then some algebra criteria were gotten. Finally, an example was given to illustrate the main results.

New three-dimensional guidance law for BTT missiles based on differential geometry and Lie-group

A new non-decoupling three-dimensional guidance law is proposed for bank-to-turn （BTT） missiles with the motion coupling problem. In this method, the different geometry is taken for theoretically modeling on B-IT missiles＇ motion within the threedimensional style without information loss, and meanwhile, Liegroup is utilized to describe the line-of-sight （LOS） azimuth when the terminal angular constraints are considered. Under these cir- cumstances, a guidance kinematics model is established based on differential geometry. Then, corresponding to no terminal angular constraint and terminal angular constraints, guidance laws are re- spectively designed by using proportional control and generalized proportional-derivative （PD） control in SO（3） group. Eventually, simulation results validate that this developed method can effectively avoid the complexity of pure Lie-group method and the information loss of the traditional decoupling method as well.

The Genetic Structure and Diversity of Repomucenus curvicornis Inhabiting Liaoning Coast Based on Mitochondrial COⅠ Gene and Control Region

[Object] This study was conducted to explore the genetic diversity and structure of the wild Repomucenus curvicornis inhabiting Liaoning Coast, China. [Method] The mitochondrial COⅠ gene and control region（CR） were PCR amplified from the wild R. curvicornis populations from the Liaodong Bay（n=22） and the northern Yellow Sea（n=18）, sequenced and analyzed for genetic diversity. [Result] The contents of A, T, C and G of 624 bp COⅠ gene were 24.09%, 31.04%, 25.28%, and 19.59%, and those of 460 bp CR fragment were 32.96%, 32.80%, 14.86% and 19.38%, respectively. The total number of variable sites, average number of nucleotide differences（ k）, haplotype diversity（H） and nucleotide diversity（π） based on COⅠ gene were 38, 4.67,（0.96±0.02） and（0.007 5±0.004 2）, and those based on CR fragment were 26, 3.35,（0.97 ±0.02） and（0.007 3±0.004 3）, respectively. Based on mitochondrial COⅠ gene and CR, the genetic diversity of Liaodong Bay population was lower than that of the northern Yellow Sea population. The AMOVA analysis based on CR fragments revealed almost significant genetic divergence between the Liaodong Bay and the northern Yellow Sea populations, while there was no significant genetic divergence based on COⅠ gene. The results showed that CR and COⅠ gene are effective molecular markers for detecting the genetic diversity of R. curvicornis population, while CR is more reliable than COⅠ gene in detecting the genetic structure. [Conclusion] CR is an appropriate marker for genetic analysis of marine fish population.

Precise control of a magnetically suspended double-gimbal control moment gyroscope using differential geometry decoupling method

Precise control of a magnetically suspended double-gimbal control moment gyroscope （MSDGCMG） is of vital importance and challenge to the attitude positioning of spacecraft owing to its multivariable, nonlinear and strong coupled properties. This paper proposes a novel linearization and decoupling method based on differential geometry theory and combines it with the internal model controller （IMC） to guarantee the system robustness to the external disturbance and parameter uncertainty. Furthermore, by introducing the dynamic compensation for the inner-gimbal rate-servo system and the magnetically suspended rotor （MSR） system only, we can eliminate the influence of the unmodeled dynamics to the decoupling control accuracy as well as save costs and inhibit noises effectively. The simulation results verify the nice decoupling and robustness performance of the system using the proposed method.

PID Parameters for Tuning and Optimization of a Turbine EngineBased on the Simplex Search Method

A PID parameters tuning and optimization method for a turbine engine based on the simplex search method was proposed. Taking time delay of combustion and actuator into account, a simulation model of a PID control system for a turbine engine was developed. A performance index based on the integral of absolute error （IAE） was given as an objective function of optimization. In order to avoid the sensitivity that resulted from the initial values of the simplex search method, the traditional Ziegler-Nichols method was used to tune PID parameters to obtain the initial values at first, then the simplex search method was applied to optimize PID parameters for the turbine engine. Simulation results indicate that the simplex search method is a reasonable and effective method for PID controller parameters tuning and optimization.

Deterministic Time-inconsistent Optimal Control Problems - an Essentially Cooperative Approach

A general deterministic time-inconsistent optimal control problem is formulated for ordinary differential equations. To find a time-consistent equilibrium value function and the corresponding time-consistent equilibrium control, a non-cooperative N-person differential game （but essentially cooperative in some sense） is introduced. Under certain conditions, it is proved that the open-loop Nash equilibrium value function of the N-person differential game converges to a time-consistent equilibrium value function of the original problem, which is the value function of a time-consistent optimal control problem. Moreover, it is proved that any optimal control of the time-consistent limit problem is a time-consistent equilibrium control of the original problem.

A 1.0 V differential VCO in 0.13 μm CMOS technology

A differential complementary LC voltage controlled oscillator （VCO） with high Q on-chip inductor is presented. The parallel resonator of the VCO consists of inversion-mode MOS （I-MOS） capacitors and an on-chip inductor. The resonator Q factor is mainly limited by the on-chip inductor. It is optimized by designing a single turn inductor that has a simulated Q factor of about 35 at 6 GHz. The proposed VCO is implemented in the SMIC 0.13μm 1P8M MMRF CMOS process, and the chip area is 1.0 ×0.8 mm2. The free-running frequency is from 5.73 to 6.35 GHz. When oscillating at 6,35 GHz, the current consumption is 2.55 mA from a supply voltage of 1.0 V and the measured phase noise at 1 MHz offset is -120.14 dBc/Hz. The figure of merit of the proposed VCO is -192.13 dBc/Hz.

Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains

The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation （PID） controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization （MCIWO） and particle swarm optimization （PSO） algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.

Classical state feedback controller for nonlinear systems using mean value theorem： closed Ioop-FOC of PMSM motor application

The problem of state feedback controllers for a class of Takagi-Sugeno （T-S） Lipschitz nonlinear systems is investigated. A simple systematic and useful synthesis method is proposed based on the use of the differential mean value theorem （DMVT） and convex theory. The proposed design approach is based on the mean value theorem （MVT） to express the nonlinear error dynamics as a convex combination of known matrices with time varying coefficients as linear parameter varying （LPV） systems. Using the Lyapunov theory, stability conditions are obtained and expressed in terms of linear matrix inequalities （LMIs）. The controller gains are then obtained by solving linear matrix inequalities. The effectiveness of the proposed approach for closed loop-field oriented control （CL-FOC） of permanent magnet synchronous machine （PMSM） drives is demonstrated through an illustrative simulation for the proof of these approaches. Furthermore, an extension for controller design with parameter uncertainties and perturbation performance is discussed.

Adaptive guidance law design based on characteristic model for reentry vehicles

In this paper an adaptive guidance law based on the characteristic model is designed to track a reference drag acceleration for reentry vehicles like the Shuttle. The characteristic modeling method of linear constant systems is extended for single-input and single-output （SlSO） linear time-varying systems so that the characteristic model can be established for reentry vehicles. A new nonlinear differential golden-section adaptive control law is presented. When the coefficients belong to a bounded closed convex set and their rate of change meets some constraints, the uniformly asymptotic stability of the nonlinear differential golden-section adaptive control system is proved. The tracking control law, the nonlinear differential golden-section control law, and the revised logical integral control law are integrated to design an adaptive guidance law based on the characteristic model. This guidance law overcomes the disadvantage of the feedback linearization method which needs the precise model. Simulation results show that the proposed method has better performance of tracking the reference drag acceleration than the feedback linearizaUon one.

A 5 GHz CMOS frequency synthesizer with novel phase-switching prescaler and high-Q LC-VCO

A phase-locked loop（PLL） frequency synthesizer with a novel phase-switching prescaler and a high-Q LC voltage controlled oscillator（VCO） is presented.The phase-switching prescaler with a novel modulus control mechanism is much more robust on process variations.The Q factor of the inductor,I-MOS capacitors and varactors in the VCO are optimized.The proposed frequency synthesizer was fabricated by SMIC 0.13μm 1P8M MMRF CMOS technology with a chip area of 1150×2500μm^2.When locking at 5 GHz,the current consumption is 15 mA from a supply voltage of 1.2 V and the measured phase noise at a 1 MHz offset is -122.45 dBc/Hz.