State Feedback Sliding Mode Control without Chattering by Constructing Hurwitz Matrix for AUV Movement

This paper presents a new method to eliminate the chattering of state feedback sliding mode control （SMC） law for the mobile control of an autonomous underwater vehicle （AUV） which is nonlinear and suffers from unknown disturbances system. SMC is a well-known nonlinear system control algorithm for its anti-disturbances capability, while the chattering on switch surface is one stiff question. To dissipate the well-known chattering of SMC, the switching manifold is proposed by presetting a Hurwitz matrix which is deducted from the state feedback matrix. Meanwhile, the best switching surface is achieved by use of eigenvalues of the Hurwitz matrix. The state feedback control parameters are not only applied to control the states of AUV but also connected with coefficients of switching surface. The convergence of the proposed control law is verified by Lyapunov function and the robust character is validated by the Matlab platform of one AUV model.

基于x-LMS算法的直升机主动消振电力作动器系统研究

直升机前飞时,气动环境会导致不同方位角的桨叶出现气动载荷的瞬间不对称,通过基础结构传递会在机身形成大幅度的低频振动。为了消除多方向幅值变化的振动力,利用结构响应主动控制原理,设计了基于x-LMS算法的主动消振电力作动器系统,并进行了减振实验。首先,通过比较确定了单台作动器中两台电机同向旋转的方案。通过两台作动器的组合使用,推导出输出力的数学模型。其次,采用负载相位差交叉耦合的控制策略设计系统控制框图。针对存在耦合的相位外环,通过回差阵特征值法确定满足系统稳定裕度要求的参数范围,再根据灵敏度函数和输入跟踪性能在所得的参数稳定域内寻找最优解。然后,提出了基于x-LMS算法的直升机主动振动控制系统,并通过仿真验证了该系统的减振效果。最后,研制的实验样机进行了动稳态实验以及减振实验,验证了系统的实际减振效果。

深度融合内容和隐式反馈的跨域推荐算法

针对现有的大多数跨域推荐方法仅仅使用了源域的评分信息和部分辅助信息,并未充分使用包括隐式反馈信息在内的其它辅助信息,文中提出了一种融合多种辅助信息的跨域推荐算法,以充分使用隐式反馈信息和内容信息来提升跨域推荐方法的性能.在对堆叠降噪自动编码器(stacked denoising autoencoder,SDAE)进行扩展的基础上,结合矩阵分解(matrix factorization,MF)方法,同时融合了源域的评分信息、用户和项目的内容信息以及隐式反馈信息,丰富了用户和项目潜在特征的语义信息.采用基于密码本的知识迁移方法和非完备正交非负矩阵三分解方法,设计了适用于评分信息和多类型辅助信息综合运用的跨域协同过滤框架.实际数据集上的实验结果表明,该方法在改善推荐性能,减少用户厌恶推荐结果方面有着良好的效果.

感应电机全阶磁链观测器反馈矩阵增益研究

基于自适应全阶磁链观测器的感应电机无编码器矢量控制技术在工业电气传动领域获得广泛应用,其反馈矩阵增益对于提高感应电机控制性能至关重要。根据速度估算系统的稳定性条件推导出反馈增益设计要求,获得特定的反馈增益以保证系统的完全稳定性。在DSP控制平台上通过欧拉法对全阶磁链观测器进行离散化,利用7.5 kW的感应电机对拖机组对推导的反馈增益有效性进行了实验验证。结果表明,该速度估算系统能保证电机在全调速范围内稳定运行。

基于LQR的一级倒立摆控制器优化设计

沿用文献的数学模型及物理参数,以经验法自行设计LQR控制器加权矩阵Q、P,利用MATLAB完成反馈矩阵K的计算,通过逐项比对分析,对矩阵Q、P进行调整,使控制器性能更加优越。从Matlab模拟结果来看,与所选文献相比,该文的LQR控制器稳定性更好。

Observer design and output feedback stabilization for linear singular time-delay systems with unknown inputs

The design of a functional observer and reduced-order observer with internal delay for linear singular timedelay systems with unknown inputs is discussed. The sufficient conditions of the existence of observers, which are normal linear time-delay systems, and the corresponding design steps are presented via linear matrix inequality（LMI）. Moreover, the observer-based feedback stabilizing controller is obtained. Three examples are given to show the effectiveness of the proposed methods.

FORCE FEEDBACK DATAGLOVE BASED ON PNEUMATIC ARTIFICIAL MUSCLES

An exoskeleton force feedback dataglove is developed, which uses the pneumatic artificial muscles as actuators. On the basis of the simplified hand model, the motion equation is deduced according to the theory of Denavit-Hartenberg. The model of the equivalent contact forces exerted by the object on the finger is proposed. By the principle of virtual work, the static equilibrium of finger is established. The force Jacobian matrix of finger is calculated, and then the joint torques of the finger when grasping objects are obtained. The theory and structure of the force feedback datagolve are introduced. Based on the theory of motion stabilization of four-bar linkage, the flexion angles of joints are measured. The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated. The output forces of pneumatic artificial muscle, whose values are controlled by its inner pressure, can be calculated by the joint torques of the finger when grasping objects. The arms of force, driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger. The criterion of output force of pneumatic muscle is given.

Feedback control design for discrete-time piecewise affine systems

This paper investigates the design of state feedback and dynamic output feedback stabilizing controllers for discrete-time piecewise affine(PWA) systems.The main objective is to derive design methods that will incorporate the partition information of the PWA systems so as to reduce the design conservatism embedded in existing design methods.We first introduce a transformation that converts the feedback control design problem into a bilinear matrix inequality(BMI) problem.Then,two iterative algorithms are proposed to compute the feedback controllers characterized by the BMI.Several simulation examples are given to demonstrate the advantages of the proposed design.

高成品率大耦合因子DFB激光二极管芯片设计与制备

设计并制备了一种基于相移光栅的大耦合因子分布反馈(DFB)激光二极管芯片,解释了相移光栅在大耦合因子下实现芯片高成品率的机理。采用传输矩阵法模拟了不同耦合因子下随机相位对均匀光栅和相移光栅激光二极管芯片单模特性的影响,发现对于常规均匀光栅DFB结构,随着耦合因子的增加,芯片阈值增益差会明显降低,从而降低芯片单模成品率;而相移光栅DFB结构在不同耦合因子下,芯片阈值增益差并没有明显变化,仍能够保证比较高的单模成品率。采用电子束光刻制作了1/4波长相移光栅和均匀光栅并进行了对比,最后制备出大归一化耦合因子(κL=2.1)的相移光栅DFB激光器二极管芯片。测试统计数据显示,与均匀光栅激光二极管芯片相比,新型相移光栅DFB激光二极管芯片成品率明显高,达70%以上。与常规归一化耦合因子(κL≈1.2)DFB激光二极管芯片相比,在宽温(-40~95℃)下,新型大耦合因子激光二极管芯片的光谱单模特性更稳定,同时具有更低的阈值电流,在低工作电流(30 mA)下,芯片的-3 dB带宽大于18 GHz,满足传输速率为25 Gbit/s的高速传输协议要求。

H_∞ Synchronization of Chaotic Systems via Delayed Feedback Control

The H∞ synchronization problem for a class of delayed chaotic systems with external disturbance is investigated. A novel delayed feedback controller is established under which the chaotic master and slave systems are synchronized with a guaranteed H∞ performance. Based on the Lyapunov stability theory, a delay-dependent condition is derived and formulated in the form of linear matrix inequality （LMI）. A numerical simulation is also presented to validate the effectiveness of the developed theoretical results.

Static output feedback control for discrete-time fuzzy bilinear system

The problem of designing fuzzy static output feedback controller for T-S discrete-time fuzzy bilinear system （DFBS） is presented. Based on parallel distribution compensation method, some sufficient conditions are derived to guarantee the stability of the overall fuzzy system. The stabilization conditions are further formulated into linear matrix inequality （LMI） so that the desired controller can be easily obtained by using the Matlab LMI toolbox. In comparison with the existing results, the drawbacks, such as coordinate transformation, same output matrices, have been elim- inated. Finally, a simulation example shows that the approach is effective.

H_∞ Output Feedback Control of Linear Time-invariant Fractional-order Systems over Finite Frequency Range

This paper focuses on the H_∞ output feedback control problem of linear time-invariant fractional-order systems over finite frequency range. Based on the generalized KalmanYakubovic-Popov(KYP) Lemma and a key projection lemma, a necessary and sufficient condition is established to ensure the existence of the H_∞ output feedback controller over finite frequency range, a desirable property in control engineering practice. By using the matrix congruence transformation, the feedback control gain matrix is decoupled and further parameterized by a scalar matrix. Two iterative linear matrix inequality algorithms are developed to solve this problem. Finally, numerical examples are provided to illustrate the effectiveness of the proposed method.

Switching Feedback Stabilization for Discrete Linear Multiple-input Systems

New idea of stabilization for discrete linear multiple-input system is proposed based on switching technique and single-input control. The system discussed here denotes coupled singleinput objects to be controlled. The central processing unit chooses an object at each discrete instant according to periodic switching strategy and controls it by local state feedback. Stabilization of a multiple-input system is turned into stabilization of single-input systems under periodic switching strategy, which is easy to be realized in practice. On the other hand, only one central processing unit can realize all local controllers, which decreases the cost and increases the usage of the resources.

Exponential synchronization of general chaotic delayed neural networks via hybrid feedback

This paper investigates the exponential synchronization problem of some chaotic delayed neural networks based on the proposed general neural network model,which is the interconnection of a linear delayed dynamic system and a bounded static nonlinear operator,and covers several well-known neural networks,such as Hopfield neural networks,cellular neural networks(CNNs),bidirectional associative memory(BAM)networks,recurrent multilayer perceptrons(RMLPs).By virtue of Lyapunov-Krasovskii stability theory and linear matrix inequality(LMI)technique,some exponential synchronization criteria are derived.Using the drive-response concept,hybrid feedback controllers are designed to synchronize two identical chaotic neural networks based on those synchronization criteria.Finally,detailed comparisons with existing results are made and numerical simulations are carried out to demonstrate the effectiveness of the established synchronization laws.

Dynamical output feedback stabilization for neutral systems with mixed delays

This paper is concerned with the issue of stabilization for the linear neutral systems with mixed delays. The attention is focused on the design of output feedback controllers which guarantee the asymptotical stability of the closed-loop systems. Based on the model transformation of neutral type, the Lyapunov-Krasovskii functional method is employed to establish the delay-dependent stability criterion. Then, through the controller parameterization and some matrix transformation techniques, the desired parameters are determined under the delay-dependent design condition in terms of linear matrix inequalities (LMIs), and the desired controller is explicitly formulated. A numerical example is given to illustrate the effectiveness of the proposed method.

H_2 Output Feedback Control for Airborne Dispenser Uncertain Generalized System

The problem of H2 output feedback control for generalized system with structural uncertainties is studied using linear matrix inequality approach. A sufficient condition Of linear matrix inequality is presented such that the closed-loop system is stable and satisfies H2 performance for all admissible uncertainties. Furthermore, the solution of the controller is given. An H2 output feedback controller is designed in the airborne dispenser pitch channel, and the simulation results show that the controller is effective.

Output feedback controller design for uncertain piecewise linear systems

This paper proposes output feedback controller design methods for uncertain piecewise linear systems based on piecewise quadratic Lyapunov function. The α-stability of closed-loop systems is also considered. It is shown that the output feedback controller design procedure of uncertain piecewise linear systems with α-stability constraint can be cast as solving a set of bilinear matrix inequalities （BMIs）. The BMIs problem in this paper can be solved iteratively as a set of two convex optimization problems involving linear matrix inequalities （LMIs） which can be solved numerically efficiently. A numerical example shows the effectiveness of the proposed methods.

LMI-based output feedback fuzzy control of chaotic system with uncertainties

This paper studies the robust fuzzy control for nonlinear chaotic system in the presence of parametric uncertainties. An uncertain Takagi-Sugeno （T-S） fuzzy model is employed for fuzzy modelling of an unknown chaotic system. A sufficient condition formulated in terms of linear matrix inequality （LMI） for the existence of fuzzy controller is obtained. Then the output feedback fuzzy-model-based regulator derived from the LMI solutions can guarantee the stability of the closed-loop overall fuzzy system. The T-S fuzzy model of the chaotic Chen system is developed as an example for illustration. The effectiveness of the proposed controller design methodology is finally demonstrated through computer simulations on the uncertain Chen chaotic system.