This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a ...This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.展开更多
The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must...The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must adhere to the ＂wide coverage, basic, multi-level, The basic principle of sustainable ＂. In order to achieve the security of endowment insurance fund, sustainable development should be adopted .The countermeasures are： firstly, the implementation of sustainable legal raising mode; secondly, to determine the reasonable payment level, expanding .Large endowment insurance coverage;thirdly, to implement the State Administration by main market managementPrivate management and sustainable.展开更多
文摘This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.
文摘The sustainable development of the endowment insurance fund is the most basic fulcrum to the healthy development of the pension insurance system.The sustainable development of Chinese endowment insurance fund, we must adhere to the ＂wide coverage, basic, multi-level, The basic principle of sustainable ＂. In order to achieve the security of endowment insurance fund, sustainable development should be adopted .The countermeasures are： firstly, the implementation of sustainable legal raising mode; secondly, to determine the reasonable payment level, expanding .Large endowment insurance coverage;thirdly, to implement the State Administration by main market managementPrivate management and sustainable.
