Adaptive tracking control of manipulators: Theory and experiments

This paper considers the trajectory tracking problem for uncertain robot manipulators and proposes two adaptive controllers as solutions to this problem. The first controller is derived under the assumption that the manipulator state is measurable, while the second strategy is developed for those applications in which only position measurements are available. The adaptive schemes are very general and computationally efficient since they do not require knowledge of either the mathematical model or the parameter values of the manipulator dynamics, and are implemented without calculation of the robot inverse dynamics or inverse kinematic transformation. It is shown that the control strategies ensure uniform boundedness of all signals in the presence of bounded disturbances, and that the ultimate size of the tracking errors can be made arbitrarily small. Experimental results are presented for a PUMA 560 manipulator and demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed controllers.     

Measuring the errors of form of industrial surfaces: prediction and optimization

To acquire maximum information on the geometrical errors of industrially made surfaces at a minimum cost, a method for estimating conditional probabilities of a random signal (Bayesian prediction) is applied to three-dimensional metrology. First, a surface is interpolated between data acquired on a coordinate measuring machine (CMM). Then, for a given probability, limit surfaces are computed that bind a region of space containing the known data and the most probable interpolation of the missing data of the surface. These bounds can be treated as the surface; their points can be considered as if they were actual CMM data when fitting a tolerance zone or a datum feature to the data. For Bayesian prediction, the basic hypotheses on the signal are stationarity, ergodicity, and gaussian density. Deviations from these hypotheses and their consequences on the prediction are taken into account and corrections are proposed.     

一类分布参数系统的有限维变结构控制

本文研究了一类非线性分布参数系统的有限维变结构控制问题，首先采用Ｇａｌｅｒｋｉｎ近拟法给出了系统的有限维近似模型；进而给出了使近似系统具有良好动态品质的有限维变结构控制器的设计方法；最后分析了闭环系统的渐近性态，给出了近似阶次一定的情况下，原系统具有良好渐近性态的充分条件。     

时滞系统变结构控制设计的新方法

本文研究了两类时滞控制系统，用不同方法分别对它们进行了变结构控制设计。所设计的控制器简单，易于实现且精确度高。     

基于神经网络的模拟电路故障诊断优化近似方法

本文提出了线性电阻电路故障诊断的一种神经网络优化方法。其基本思想是应用Ｈｏｐｆｉｅｌｄ网络原理来处理Ｌ１范数问题，以此来进行诊断。对实例的计算证明此法是可行的。     

多模智能 PID 控制及其在液压电梯速度控制系统中的应用

本文基于普通ＰＩＤ控制器和人工智能的理论，针对液压电梯速度控制系统非线性和建模困难等特点。采用了一种多模式智能ＰＩＤ控制算法，它结合了普通ＰＩＤ控制器的优点。应用实例显示了这种控制方法的有效性。     

实时跟踪控制系统中的数字滤波技术

在高精度的实时跟踪控制系统中，由探测器等其他一些因素给系统带来的噪声将不容忽视，数字滤波将是滤除噪声的有效手段，，由于系统实时性和采样频率的要求，本文介绍几种时跟踪系统中常用的数字滤波方法，并对它们在实时跟踪系统中的作用进行了和比较。     

冶钢小方坯连铸机结晶器液面控制系统故障分析及对策

本文针对某一钢铁厂的一套小方坯连铸机结晶器液面自动控制系统，对其故障原因进行了深入分析，指出导致系统控制性能达不到设计要求长期无法投入运行的主要原因，并提出了相应的解决方法。     

Adaptive control in a heating vessel: A comparative study

This paper presents experimental results obtained in temperature adaptive control of a heating vessel. A non-linear model of the process showed that the feed flow rate causes severe variations in time constant and process gain. An extended horizon self-tuning controller and two different model reference adaptive controllers were tested. The influence of design parameters on control performance for each algorithm was assessed. The control system was disturbed with load and setpoint changes.     

笼型感应电动机电磁噪声及其控制

本文首先讨论了笼型感应电动机的电磁噪声和负载噪声的关系及特点，然后论述了控制电磁噪声的若干措施．并首次采用了几种目前不被人们采用和推荐采用的槽配合．设计和制造了低噪声笼型三相感应电动机．给出了电磁噪声的计算值和空载噪声试验结果．