Abstract-The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method...Abstract-The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method is proposed, which can simultaneousiy provide optimal performance. The optimal decoupling controller is composed of an inner-loop decoupling controller and an outer-loop optimal tracking controller. First, by introducing one virtual control variable, the original differential equation on state is converted to a generalized system on output. Then, by introducing the other virtual control variable, and viewing the coupling terms as the measurable disturbances, the generalized system is open-loop decoupled. Finally, for the decoupled system, the optimal tracking control method is used. It is proved that the decoupling control is optimal for a certain performance index. Simulations on a ball mill coal-pulverizing system are conducted. The results show the effectiveness and superiority of the proposed method as compared with the conventional optimal quadratic tracking （LQT） control method.展开更多
Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of g...Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.展开更多
基金supported by the National Natural Science Foundation of China(61573090)the Research Funds for the Central Universities(N130108001)
文摘Abstract-The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method is proposed, which can simultaneousiy provide optimal performance. The optimal decoupling controller is composed of an inner-loop decoupling controller and an outer-loop optimal tracking controller. First, by introducing one virtual control variable, the original differential equation on state is converted to a generalized system on output. Then, by introducing the other virtual control variable, and viewing the coupling terms as the measurable disturbances, the generalized system is open-loop decoupled. Finally, for the decoupled system, the optimal tracking control method is used. It is proved that the decoupling control is optimal for a certain performance index. Simulations on a ball mill coal-pulverizing system are conducted. The results show the effectiveness and superiority of the proposed method as compared with the conventional optimal quadratic tracking （LQT） control method.
文摘Since ancient times, man has been concerned to create an artificial structure similar to itself. This concern has remained constant attention and creative thinkers most profound since antiquity until today, it is of greatest interest. This article aims to highlight the most significant moments of the evolution from mechanical creatures mythical or real, from antiquity to the present humanoid robots. There are thus shown the most significant variants humanoid imagined or realized since Talos, described in Greek mythology, continuing with mechanical machines during late Roman Empire, the Byzantine Empire and then the Renaissance of the post-renaissance, then they are shown the main achievements of the industrialization period from the nineteenth to the early part of the twentieth century, then to the most important made in the last decades of the twentieth century and early twenty-first century. The work is important to stimulate concerns academic theorists and practice but also in the industrial practice specializing in robotics and more generally in mechatronics. It also opens the prospect of defining the concept of an artificial humanoid useful both for human prosthesis with certain disabilities, and a humanoid robot performance.
