Adaptive fuzzy decentralized control for nonlinear large-scale systems based on high-gain observer

An adaptive fuzzy decentralized backstepping output-feedback control approach is proposed for a class of nonlinear large-scale systems with completely unknown functions,the interconnections mismatched in control inputs,and without the measurements of the states.Fuzzy logic systems are employed to approximate the unknown nonlinear functions,and an adaptive high-gain observer is developed to estimate the unmeasured states.Using the designed high-gain observer,and combining the fuzzy adaptive control theory with backstepping approach,an adaptive fuzzy decentralized backstepping output-feedback control scheme is developed.It is proved that the proposed control approach can guarantee that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded(SUUB),and that the observer errors and the tracking errors converge to a small neighborhood of the origin by appropriate choice of the design parameters.Finally,a simulation example is provided to show the eectiveness of the proposed approach.     

可控的高度规整三角网格生成算法

本文提出了一种新的用户可控的高度规整三角网格生成算法.通过在网格表面上构造3个标量场,利用其等值线相交生成高度规整的三角网格.算法借助N-对称方向场来指导生成网格的边方向,在网格表面指定密度场来控制采样密度,同时还提供了特征对齐和对带边界模型的处理能力.所有的控制需求都被纳入标量场求解框架中统一优化.实验表明,本文的方法能够满足多种用户控制需求,生成高度规整的三角网格.     

乒乓球机器人的视觉伺服系统

视觉伺服的乒乓球机器人系统作为典型的"手眼系统",是研究高速视觉感知和快速伺服运动的理想平台,其涉及的高速物体识别跟踪、快速精确轨迹预测及机械臂伺服准确回球等关键技术在工业、军事等领域有广泛的应用前景.本文提出了乒乓球机器人的高速视觉伺服系统实现方法,包括基于特征直方图统计和快速轮廓搜索的目标识别算法,基于模型参数学习和自适应模型调整的物体运动状态估计和轨迹预测算法,及基于轨迹预测的灵巧臂回球规划算法.通过实验验证了各算法的实时性和高效性,并在165cm高的仿人机器人"悟"和"空"上成功实现了双机器人对打和与人对打任务.     

A novel STAP method for the detection of fast air moving targets from high speed platform

Space-time adaptive processing (STAP) is an effective method for detecting moving target in airborne/spaceborne radar.However,the detection of fast air moving targets from high speed platform is challenged by the range walk of both the clutter and moving targets.It is well known that keystone formatting can be used to compensate for the range walk of multiple moving targets simultaneously without using the knowledge of the motion parameters.However,in the presence of serious Doppler ambiguity of fast air moving targets,distribution of the clutter will be affected by the keystone formatting matched to the ambiguity number of targets,and as a result the STAP performance will degrade.In this paper,a novel STAP method is proposed for the detection of fast air moving targets from high speed platform,which can deal with the range walk of both clutter and targets.Effectiveness of the new method is verified via simulation examples.     

酸碱中和反应中pH值的单神经元自适应控制研究

基于酸碱中和反应过程中pH值变化的动态模型,设计单神经元自适应控制器,解决化工生产过程中pH值的PID控制所存在的调节时间长、超调量大和系统抗干扰性差的问题。在相同条件下与PID控制器进行对比实验,实验结果表明单神经元自适应控制器明显改善pH值过程控制系统的动态性能,该控制系统具有较强的自适应性与鲁棒性。