Differential evolution (DE) algorithm has been shown to be a simple and efficient evolutionary algorithm for global optimization over continuous spaces, and has been widely used in both benchmark test functions and re...Differential evolution (DE) algorithm has been shown to be a simple and efficient evolutionary algorithm for global optimization over continuous spaces, and has been widely used in both benchmark test functions and real-world applications. This paper introduces a novel mutation operator, without using the scaling factor F, a conventional control parameter, and this mutation can generate multiple trial vectors by incorporating different weighted values at each generation, which can make the best of the selected multiple parents to improve the probability of generating a better offspring. In addition, in order to enhance the capacity of adaptation, a new and adaptive control parameter, i.e. the crossover rate CR, is presented and when one variable is beyond its boundary, a repair rule is also applied in this paper. The proposed algorithm ADE is validated on several constrained engineering design optimization problems reported in the specialized literature. Compared with respect to algorithms representative of the state-of-the-art in the area, the experimental results show that ADE can obtain good solutions on a test set of constrained optimization problems in engineering design.展开更多
This paper studies the problem of robust controller design for linear perturbed continuous stochasticsystems with variance constraints via output feedback. The goal is to design static output feedback controllers such...This paper studies the problem of robust controller design for linear perturbed continuous stochasticsystems with variance constraints via output feedback. The goal is to design static output feedback controllers suchthat the uncertain system has the desil'ed stability margin and the steady-state variance constraints. The existenceconditions for the desired controllers are discussed, and the analytical expression of these controllers is alsocharacterized. A numerical example is provided to demonstrate the directness and effectiveness of the proposedmethod.展开更多
Due to the close physical interaction between human and machine in process of gait training, lower limb exoskeletons should be safe, comfortable and able to smoothly transfer desired driving force/moments to the patie...Due to the close physical interaction between human and machine in process of gait training, lower limb exoskeletons should be safe, comfortable and able to smoothly transfer desired driving force/moments to the patients. Correlatively, in kinematics the exoskeletons are required to be compatible with human lower limbs and thereby to avoid the uncontrollable interactional loads at the human-machine interfaces. Such requirement makes the structure design of exoskeletons very difficult because the human-machine closed chains are complicated. In addition, both the axis misalignments and the kinematic character difference between the exoskeleton and human joints should be taken into account. By analyzing the DOF（degree of freedom） of the whole human-machine closed chain, the human-machine kinematic incompatibility of lower limb exoskeletons is studied. An effective method for the structure design of lower limb exoskeletons, which are kinematically compatible with human lower limb, is proposed. Applying this method, the structure synthesis of the lower limb exoskeletons containing only one-DOF revolute and prismatic joints is investigated; the feasible basic structures of exoskeletons are developed and classified into three different categories. With the consideration of quasi-anthropopathic feature, structural simplicity and wearable comfort of lower limb exoskeletons, a joint replacement and structure comparison based approach to select the ideal structures of lower limb exoskeletons is proposed, by which three optimal exoskeleton structures are obtained. This paper indicates that the human-machine closed chain formed by the exoskeleton and human lower limb should be an even-constrained kinematic system in order to avoid the uncontrollable human-machine interactional loads. The presented method for the structure design of lower limb exoskeletons is universal and simple, and hence can be applied to other kinds of wearable exoskeletons.展开更多
The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle....The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle. The assumed-modes method and closed loop velocity feedback control law are used to analyze and control the flexural vibration of the beam nle influences of the bonding layer and piezoelectric layer thickness, material properties, placements of the Diezoelectric patch and feedback control parameters on the actuation ability of the vibration suppression are investigated. Some design considerations for pure passive, pure active control, and self-sensing active constrained layer damping are discussed.展开更多
文摘Differential evolution (DE) algorithm has been shown to be a simple and efficient evolutionary algorithm for global optimization over continuous spaces, and has been widely used in both benchmark test functions and real-world applications. This paper introduces a novel mutation operator, without using the scaling factor F, a conventional control parameter, and this mutation can generate multiple trial vectors by incorporating different weighted values at each generation, which can make the best of the selected multiple parents to improve the probability of generating a better offspring. In addition, in order to enhance the capacity of adaptation, a new and adaptive control parameter, i.e. the crossover rate CR, is presented and when one variable is beyond its boundary, a repair rule is also applied in this paper. The proposed algorithm ADE is validated on several constrained engineering design optimization problems reported in the specialized literature. Compared with respect to algorithms representative of the state-of-the-art in the area, the experimental results show that ADE can obtain good solutions on a test set of constrained optimization problems in engineering design.
文摘This paper studies the problem of robust controller design for linear perturbed continuous stochasticsystems with variance constraints via output feedback. The goal is to design static output feedback controllers suchthat the uncertain system has the desil'ed stability margin and the steady-state variance constraints. The existenceconditions for the desired controllers are discussed, and the analytical expression of these controllers is alsocharacterized. A numerical example is provided to demonstrate the directness and effectiveness of the proposedmethod.
基金Supported by National Natural Science Foundation of China(Grant No.61273342)Beijing Municipal Natural Science Foundation of China(Grant Nos.3113026,3132005)
文摘Due to the close physical interaction between human and machine in process of gait training, lower limb exoskeletons should be safe, comfortable and able to smoothly transfer desired driving force/moments to the patients. Correlatively, in kinematics the exoskeletons are required to be compatible with human lower limbs and thereby to avoid the uncontrollable interactional loads at the human-machine interfaces. Such requirement makes the structure design of exoskeletons very difficult because the human-machine closed chains are complicated. In addition, both the axis misalignments and the kinematic character difference between the exoskeleton and human joints should be taken into account. By analyzing the DOF（degree of freedom） of the whole human-machine closed chain, the human-machine kinematic incompatibility of lower limb exoskeletons is studied. An effective method for the structure design of lower limb exoskeletons, which are kinematically compatible with human lower limb, is proposed. Applying this method, the structure synthesis of the lower limb exoskeletons containing only one-DOF revolute and prismatic joints is investigated; the feasible basic structures of exoskeletons are developed and classified into three different categories. With the consideration of quasi-anthropopathic feature, structural simplicity and wearable comfort of lower limb exoskeletons, a joint replacement and structure comparison based approach to select the ideal structures of lower limb exoskeletons is proposed, by which three optimal exoskeleton structures are obtained. This paper indicates that the human-machine closed chain formed by the exoskeleton and human lower limb should be an even-constrained kinematic system in order to avoid the uncontrollable human-machine interactional loads. The presented method for the structure design of lower limb exoskeletons is universal and simple, and hence can be applied to other kinds of wearable exoskeletons.
基金the National Natural Science Foundation of China(No.59635140)
文摘The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle. The assumed-modes method and closed loop velocity feedback control law are used to analyze and control the flexural vibration of the beam nle influences of the bonding layer and piezoelectric layer thickness, material properties, placements of the Diezoelectric patch and feedback control parameters on the actuation ability of the vibration suppression are investigated. Some design considerations for pure passive, pure active control, and self-sensing active constrained layer damping are discussed.
