Squaring down LTI systems: A geometric approach

In this paper, the problem of reducing a given LTI system into a left or right invertible one is addressed and solved with the standard tools of the geometric control theory. First, it will be shown how an LTI system can be turned into a left invertible system, thus preserving key system properties like stabilizability, phase minimality, right invertibility, relative degree and infinite zero structure. Moreover, the additional invariant zeros introduced in the left invertible system thus obtained can be arbitrarily assigned in the complex plane. By duality, the scheme of a right inverter will be derived straightforwardly. Moreover, the squaring down problem will be addressed. In fact, when the left and right reduction procedures are applied together, a system with an unequal number of inputs and outputs is turned into a square and invertible system. Furthermore, as an example it will be shown how these techniques may be employed to weaken the standard assumption of left invertibility of the plant in many optimization problems.     

基于不变特征的标志识别技术研究

标志识别是近距离空间交会对接中的一项重要的关键技术.在空间交会对接过程中,太阳和月球等各种天体以及飞行器上零部件的辐射与反射都会影响CCD的成像,形成大量杂散光干扰.为此,本文首先设计了具有不变特征的标志系统,然后根据标志系统固有的不变特征,详细设计了左右像点匹配、远场像平面不变特征识别、近场像平面预测识别以及像空间模型匹配全等识别等一套完整算法,可以保证彻底消除杂散光的干扰,正确可靠地完成各个标志灯像点的辨识.模拟图像仿真实验和真实图像仿真实验结果验证了算法的正确性和可靠性.     

基于OBE算法的混沌通信盲干扰抑制

文章提出了基于最优边界椭球（OBE）准则的混沌通信窄带干扰自适应算法。与基于最小相空间体积（MPSV）的Kalman滤波和双重平方根无迹卡尔曼滤波（SRUKF）算法相比，该算法不需要估计干扰模型的参数，并且具有选择更新特性，能在仅有少量数据参与更新的情况下达到与前者接近的性能，有效降低了计算量。该方法的性能通过在差分混沌相移键控（DCSK）通信下对AR型和单音两种窄带干扰的有效抑制得到了验证。     

Analysis and design of discrete-time linear systems with nested actuator saturations

This paper is concerned with the analysis and design of discrete-time linear systems subject to nested saturation functions. By utilizing a new compact convex hull representation of the saturation nonlinearity, a linear matrix inequalities (LMIs) based condition is obtained for testing the local and global stability of the considered nonlinear system. The estimation of the domain of attraction and the design of feedback gains such that the estimation of the domain of attraction for the resulting closed-loop system is maximized are then converted into some LMIs based optimization problems. Compared with the existing results on the same problems, the proposed solutions are less conservative as more slack variables are introduced into the conditions. A couple of numerical examples are worked out to validate the effectiveness of the proposed approach.     

Robust linear output feedback controller for autonomous landing of a quadrotor on a ship deck

Ship deck landing control of a quadrotor requires certain robustness with respect to ship heave motion. Typical systems only provide relative height, therefore do not have relative heave rate information. In this paper, a linear output feedback control consisting of a full state feedback controller and a Luenberger observer is formulated. Invariant ellipsoid method is used to formulate an estimation of a bound on the response of a linear output feedback-controlled system subjected to external disturbances and measurement noise. The gains that result in a minimum bound are optimized using a gradient descent iterative approach proposed in this paper where the invariant ellipsoid condition is linearized into a tractable LMI condition. This approach is applied to a simulation of a quadrotor landing on a ship deck and results are compared with other gains. The gains selected using the proposed approach exhibits improved robustness to external disturbances and measurement noise.     

椭球共轭半径的投影

研究了椭圆、椭球的一组共轭半径在另一组共轭半径上投影的性质。     

Stochastic ellipsoid methods for robust control: Multiple updates and multiple cuts

Efficient randomized algorithms are developed for solving robust feasibility problems with multiple parameter-dependent convex constraints. Two complementary strategies are presented, both of which exploit the multiplicity to achieve fast convergence. One is the stochastic ellipsoid method with multiple updates. In each iteration of this algorithm, an ellipsoid which describes a candidate of the solution set is updated many times via the multiple constraints with one random sample, while at most one update is allowed in the original method. The other is the stochastic ellipsoid method with multiple cuts. Here, a new update rule is presented to construct a smaller ellipsoid directly via multiple subgradients given by the constraints. A quantitative analysis of the volume of the ellipsoid is also provided, which guarantees the advantage of the proposed algorithm over the original one. The above features lead to a reduction of the total number of random samples necessary for convergence, which is extensively demonstrated through numerical examples.     

纵向加速流绕椭球流动的精确解

本文基于理想不可压轴对称位流理论，导得纵向加速流绕椭球流动的精确解；利用Ｌｅｇｅｎｄｒｅ多项式还是导得椭球在静止介质中沿纵向作加速运动时，由此引起流体流动的精确解，以及这两种情况下作用在椭球上的附加阻力。所得结果具有一定的理论价值，且可用来检验数值计算方法。     

A 3-D Image Detection Method of a Surface Opening Crack in Concrete Using Ultrasonic Transducer Arrays

The detection of the size and the location of existing three dimensional cracks in a concrete structure is an important topic in civil engineering. In this paper, a multisource, multireceiver method that considers the travel times diffracted by a crack tip is introduced, to backcalculate a 3-D image of the crack tip of a surface opening crack. The possible location of the crack tip front is on the surface of an ellipsoid, which is constructed by a fixed travel time length measured from the source to the receiver, by letting the source and receiver points be the foci of the corresponding ellipsoid. If the locations of the source and the receiver, together with the associated measured travel time of the diffracted echo between each source-receiver pair are known, the image of the tip can be determined by counting the number of intersections of the ellipsoidal surfaces in an image construction cellular structure. The backcalculated crack tip image, as seen from experimental data, match the dimensions of the real crack very well, demonstrating the capability and accuracy of this newly proposed multisource, multireceiver method for concrete NDE.