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基于一阶不确定项估计律的机械臂鲁棒控制研究 被引量:1
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作者 李琦 李纯 姚程炜 《测控技术》 CSCD 2015年第11期79-82,共4页
针对多自由度机械臂控制系统的模型参数误差、关节摩擦力以及外部输入扰动等不确定项,设计了一类一阶误差估计律;结合基于机构动力学名义模型的输入输出反馈线性化控制算法,对六自由度刚性机械臂的时变轨迹跟踪控制进行了研究,理论上证... 针对多自由度机械臂控制系统的模型参数误差、关节摩擦力以及外部输入扰动等不确定项,设计了一类一阶误差估计律;结合基于机构动力学名义模型的输入输出反馈线性化控制算法,对六自由度刚性机械臂的时变轨迹跟踪控制进行了研究,理论上证明了设计的鲁棒控制器是全局渐进稳定的。仿真结果表明该控制策略对系统的各类不确定项具有很好的鲁棒性,能够实现高精度的轨迹跟踪控制。 展开更多
关键词 机械臂 不确定项 鲁棒控制器 误差估计律
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一种空时二维超分辨分维估计方法 被引量:1
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作者 徐利民 毛志杰 +1 位作者 徐晓建 吴瑛 《信息工程大学学报》 2003年第3期69-72,共4页
介绍了一种应用在多普勒频率和DOA估计分维处理情况下,利用时域ESPRIT方法进行盲Doppler频移估计和时域投影变换法进行DOA估计的空时二维超分辨方法。仿真试验证明了该算法具有较高的分辨性能和较好的稳健性,不但具有全方向来波的分辨能... 介绍了一种应用在多普勒频率和DOA估计分维处理情况下,利用时域ESPRIT方法进行盲Doppler频移估计和时域投影变换法进行DOA估计的空时二维超分辨方法。仿真试验证明了该算法具有较高的分辨性能和较好的稳健性,不但具有全方向来波的分辨能力,而且对小角度差来波具有高分辨能力。 展开更多
关键词 高分辨 特征值分解 时域投影变换 波达方向多普勒频二维估计
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基于Backstepping的严格反馈极值搜索系统控制器设计 被引量:3
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作者 张雷 胡云安 +1 位作者 张杨 王佩飞 《海军航空工程学院学报》 2016年第4期401-406,共6页
针对一类含不确定参数的严格反馈型极值搜索系统的控制问题,将极值搜索方法和反演(Backstepping)控制方法相结合,设计出系统状态的极值参考轨迹,利用Backstepping控制方法逐步递推选取适当的Lyapunov函数设计控制器和不确定参数自适应... 针对一类含不确定参数的严格反馈型极值搜索系统的控制问题,将极值搜索方法和反演(Backstepping)控制方法相结合,设计出系统状态的极值参考轨迹,利用Backstepping控制方法逐步递推选取适当的Lyapunov函数设计控制器和不确定参数自适应估计律,实现目标函数的极值搜索。仿真表明所提出控制器设计方法的有效性。 展开更多
关键词 严格反馈 不确定参数 极值搜索系统 自适应估计律
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具有未知控制方向的输出反馈自适应学习控制 被引量:2
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作者 于淼 王佳森 齐冬莲 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2013年第8期1424-1430,共7页
针对具有未知控制方向的工作于重复条件下的参数化输出反馈高阶非线性系统,提出一种自适应重复学习控制方法.利用连续Nussbaum增益方法解决系统中控制方向即高频增益符号未知的问题.在针对高阶非线性系统的自适应反步控制器设计过程中,... 针对具有未知控制方向的工作于重复条件下的参数化输出反馈高阶非线性系统,提出一种自适应重复学习控制方法.利用连续Nussbaum增益方法解决系统中控制方向即高频增益符号未知的问题.在针对高阶非线性系统的自适应反步控制器设计过程中,使用综合时域自适应以及迭代域自适应的微分-差分自适应律对未知参数进行估计.利用李雅普诺夫稳定理论证明,在所提出的重复学习控制律作用下,系统的输出轨迹沿迭代轴逐点渐近收敛于期望轨迹.数值仿真结果表明,所提出的方法能够在解决控制方向未知问题的同时,保证输出反馈高阶非线性系统的收敛性. 展开更多
关键词 重复学习控制 参数化输出反馈系统 Nussbaum增益方法 未知控制方向 微分-差分参数估计律
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机器人标定系统自适应控制器研究 被引量:2
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作者 苏成志 王承运 +1 位作者 刘响 郭光远 《机械设计与制造》 北大核心 2020年第3期277-280,284,共5页
为了降低非线性系统自适应控制器设计的难度,提出通过运动分解减小非线性方程维度的方法设计相应的自适应控制器。将机器人末端执行器的运动分解为平移运动和旋转运动,让机器人末端执行器上的激光器通过先平移后旋转的方式使激光光斑分... 为了降低非线性系统自适应控制器设计的难度,提出通过运动分解减小非线性方程维度的方法设计相应的自适应控制器。将机器人末端执行器的运动分解为平移运动和旋转运动,让机器人末端执行器上的激光器通过先平移后旋转的方式使激光光斑分别趋向于PSD1和PSD2的中心。通过运动分解减小非线性方程的维度的方法,降低了控制系统数学方程的复杂度。为验证用所提方法设计控制器的有效性,利用MATLAB/Simulink软件搭建仿真环境,对标定过程进行仿真分析。仿真结果表明:所设计的控制器可使机器人运动更迅速、稳定地实现控制目标。 展开更多
关键词 非线性系统 双PSD 控制器 控制 估计律 标定
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DISTRIBUTION FREE LAWS OF THEITERATED LOGARITHM FOR KERNELESTIMATOR OF REGRESSION FUNCTIONBASED ON DIRECTIONAL DATADISTRIBUTION FREE LAWS OF THEITERATED LOGARITHM FOR KERNELESTIMATOR OF REGRESSION FUNCTIONBASED ON DIRECTIONAL DATA 被引量:2
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作者 WANGXIAOMING ZHAOLINCHENG WUYAOHUA 《Chinese Annals of Mathematics,Series B》 SCIE CSCD 2000年第4期489-498,共10页
The authors derive laws of the iterated logarithm for kernel estimator of regression function based on directional data. The results are distribution free in the sense that they are true for all distributions of desig... The authors derive laws of the iterated logarithm for kernel estimator of regression function based on directional data. The results are distribution free in the sense that they are true for all distributions of design variable. 展开更多
关键词 Directional data Laws of the iterated logrithm Regression function kernel estimator Strong convergence rates
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On a semilinear stochastic partial differential equation with double-parameter fractional noises 被引量:2
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作者 LIU JunFeng YAN LiTan 《Science China Mathematics》 SCIE 2014年第4期855-872,共18页
We study the existence,uniqueness and Hlder regularity of the solution to a stochastic semilinear equation arising from 1-dimensional integro-differential scalar conservation laws.The equation is driven by double-para... We study the existence,uniqueness and Hlder regularity of the solution to a stochastic semilinear equation arising from 1-dimensional integro-differential scalar conservation laws.The equation is driven by double-parameter fractional noises.In addition,the existence and moment estimate are also obtained for the density of the law of such a solution. 展开更多
关键词 stochastic partial differential equations double-parameter fractional noises H61der regularity density of the law Malliavin calculus
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Analysis of internal tidal characteristics in the layer above 450 m from acoustic Doppler current profiler observations in the Luzon Strait 被引量:4
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作者 LIAO GuangHong YUAN YaoChu +4 位作者 Kaneko ARATA YANG ChengHao CHEN Hong Taniguchi NAOKAZU Gohda NORIAKI 《Science China Earth Sciences》 SCIE EI CAS 2011年第7期1078-1094,共17页
The characteristics of internal tides in the upper layer of the Luzon Strait are investigated on the basis of direct-observation current data recorded on April 25 and September 26, 2008 by an acoustic Doppler current ... The characteristics of internal tides in the upper layer of the Luzon Strait are investigated on the basis of direct-observation current data recorded on April 25 and September 26, 2008 by an acoustic Doppler current profiler. Spectral analysis and energy estimation show that the diurnals and semidiurnals carry most of the energy of internal tides. Values of the depth-integrated total energy E for the three frequency bands of diurnal, semidiurnal, and high frequencies are 31, 6.9, and 3.4 kJ. m, respectively. Near-inertial peaks are only present in the baroclinic component. The behavior of typical tidal frequencies (i.e., O1, K1, M2, MK3, and M4) and the near-inertial frequency is basically consistent with linear internal wave theory, which predicts E+(ω)/E_(ω)=(ω-f)2/(ω+f)2 at depths above 66 m, while not all prominent tidal components coincide well with the relation of the linear internal wave field at other depths. Examinations of depth structures of the baroclinic tides and temporal variations show that the surface tides and internal tides are both of mixed type, having diurnal inequality and spring-neap fortnight periods. The K1 and O1 tides have comparable cross- and along-shelf components, while the M2 and S2 tides propagate toward the shelf in the northern South China Sea as wave beams. The amplitude and phase of internal tides vary with time, but M2 and S2 tides appear to have structures dominated by the first mode, while the K1 and O1 tides resemble second-mode structures. The minor to major axis ratios are close to expected values of flω in the thermocline. 展开更多
关键词 current observation acoustic Doppler current prof'fler internal tides internal waves Luzon Strait
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Weighted estimation of single index models with right censored responses
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作者 WANG YanHua1, LI XiaYan2, WANG QiHua3 & HE ShuYuan4 1School of Sciences, Beijing Institute of Technology, Beijing 100081, China 2Department of Mathematics, University of Science and Technology of China, Hefei 230026, China +1 位作者 3Chinese Academy of Mathematics and System Science, Beijing 100080, China 4School of Mathematical Sciences, Capital Normal University, Beijing 100048, China 《Science China Mathematics》 SCIE 2011年第3期479-514,共36页
In this paper, the unknown link function, the direction parameter, and the heteroscedastic variance in single index models are estimated by the random weight method under the random censorship, respectively. The centr... In this paper, the unknown link function, the direction parameter, and the heteroscedastic variance in single index models are estimated by the random weight method under the random censorship, respectively. The central limit theory and the convergence rate of the law of the iterated logarithm for the estimator of the direction parameter are derived, respectively. The optimal convergence rates for the estimators of the link function and the heteroscedastic variance are obtained. Simulation results support the theoretical results of the paper. 展开更多
关键词 single index models random censorship central limit theorem law of the iterated logarithm weighted least squares unknown link function
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ADAPTIVE TRACKING OF A CLASS OF FIRST-ORDER SYSTEMS WITH BINARY-VALUED OBSERVATIONS AND FIXED THRESHOLDS 被引量:7
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作者 Jin GUO Ji-Feng ZHANG Yanlong ZHAO 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2012年第6期1041-1051,共11页
This paper considers the adaptive tracking problem for a class of first-order systems with binary-valued observations generated via fixed thresholds. A recursive projection algorithm is proposed for parameter estimati... This paper considers the adaptive tracking problem for a class of first-order systems with binary-valued observations generated via fixed thresholds. A recursive projection algorithm is proposed for parameter estimation based on the statistical properties of the system noise. Then, an adaptive control law is designed via the certainty equivalence principle. By use of the conditional expectations of the innovation and output prediction with respect to the estimates, the closed-loop system is shown to be stable and asymptotically optimal. Meanwhile, the parameter estimate is proved to be both almost surely and mean square convergent, and the convergence rate of the estimation error is also obtained. A numerical example is given to demonstrate the efficiency of the adaptive control law. 展开更多
关键词 Adaptive control binary-valued observation optimal tracking parameter estimation stochastic system.
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The strong law for the integral of P-L estimate under left truncation and right censoring
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作者 何书元 《Science China Mathematics》 SCIE 2001年第10期1253-1260,共8页
For left truncated and right censored model, letF n be the product-limit estimate and φ a nonnegative measurable function. The almost sure limits of the cumulative hazard function based onF n pd the integral ∫ ?dF n... For left truncated and right censored model, letF n be the product-limit estimate and φ a nonnegative measurable function. The almost sure limits of the cumulative hazard function based onF n pd the integral ∫ ?dF n are given. The results are useful in establishing strong consistent results of various estimates. For left truncated data, similar results were obtained in literature. 展开更多
关键词 left truncation and right censoring product-limit estimate strong law of large numbers
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Applications of the Kinetic Formulation for Scalar Conservation Laws with a Zero-Flux Type Boundary Condition
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作者 Zhigang WANG Yachun LI 《Chinese Annals of Mathematics,Series B》 SCIE CSCD 2012年第3期351-366,共16页
The authors are concerned with a zero-flux type initial boundary value problem for scalar conservation laws.Firstly,a kinetic formulation of entropy solutions is established.Secondly,by using the kinetic formulation a... The authors are concerned with a zero-flux type initial boundary value problem for scalar conservation laws.Firstly,a kinetic formulation of entropy solutions is established.Secondly,by using the kinetic formulation and kinetic techniques,the uniqueness of entropy solutions is obtained.Finally,the parabolic approximation is studied and an error estimate of order η 1/3 between the entropy solution and the viscous approximate solutions is established by using kinetic techniques,where η is the size of artificial viscosity. 展开更多
关键词 Scalar conservation laws Entropy solutions Kinetic formulation Uniaueness Error estimate
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