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.     

人造导星技术及导星用激光系统

论述了自适应光学系统对人造导星的需要;简单介绍了两类激光导星;重点描述了销激光导星的产生机理及可用于销激光导星的一些激光系统.     

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.     

机载雷达空时二维信号处理自适应权值训练的距离分段递推算法

本文针对机载预警雷达的杂波环境，分析了杂波数据的非平稳性，由此提出在距离上分段实现空时二维自适应处理（STAP）的方法，并通过分析杂波于空间的距离来确定分段的方法。在同时考虑实时性和处理器性能的前提下，给出了一种自适应权值计算的递推算法。理论分析和计算机仿真结果均表明，本文提出的分段递推算法是有效的。     

Choosing OWA operator weights in the field of Social Choice

One of the most important issues in the theory of OWA operators is the determination of associated weights. This matter is essential in order to use the best-suited OWA operator in each aggregation process. Given that some aggregation processes can be seen as extensions of majority rules to the field of gradual preferences, it is possible to determine the OWA operator weights by taking into account the class of majority rule that we want to obtain when individuals do not grade their pairwise preferences. However, a difficulty with this approach is that the same majority rule can be obtained through a wide variety of OWA operators. For this reason, a model for selecting the best-suited OWA operators is proposed in this paper.     

Comparative study on adaptive rational macromodels of highly resonant structures

Two macromodeling techniques using rational bases are investigated to accurately predict the natural frequencies of highly resonant microwave structures. Three methods are proposed and compared to calculate pole‐free solutions to the Thiele continued fraction and vector fitting pole‐residue models of the characteristic equation det[Z(s)]. © 2007 Wiley Periodicals, Inc. Int J RF and Microwave CAE, 2007.     

试油层产液性质的多参数综合判别方法研究

准确地判断储层的产液性质,是试油选层和试油方案优化的重要依据,目前常用的判别方法是基于电测解释结论的多因素经验判别,有较大的人为性和随意性,致使正判率和符合率相对较低,一方面增加了无效的试油工作量,另一方面,增加了漏试油气层的风险.为解决这一问题系统收集和统计了塔里木油田碎屑岩地层反映产液性的录井、测井资料和试油成果资料,通过综合分析对比,提出了预测储层产液性质的新方法--综合权值法.该方法通过一定的规则给电测解释结论、岩心含水迹象、滴水试验、含油饱和度、孔隙度、原油粘度等与产液性相关的因素赋以权值,从而求得综合权值,进而对储层产液性质进行综合判别.综合权值法明显优于单纯的电测解释,使油气水层解释的平均符合率和平均正判率都提高了20%.利用该方法判断储层产液性质具有操作简单、判别率高等优点,对于更合理地优选试油层位和优化试油方案具有重要的实际应用价值.     

基于智能模糊控制策略的有源消声

有源消声是一种有效的低频噪声控制方法，由于空间有源消声过程具有时变性和非线性，传统的自适应算法不能进行很有效的控制。本文采用智能模糊控制策略，建立了基于智能模糊控制策略的有源消声系统，通过实验与传统自适应控制算法的消声效果作对比分析，证明智能模糊控制器不但控制速度快，易于实现，而且消声效果明显优于后者，具有较大的应用推广价值。     

数字微波无线通信系统中的中频自适应均衡器

在数字微波无线通信系统中，由于多径衰落引起码间干扰，使系统性能恶化，必须采用抗多径衰落的措施．中频频域均衡器（ＩＦＥ）由于结构简单而且经济，在衰落不十分严重的情况下性能良好，因而在数字微波系统中被广泛采用．本文比较了几种常用的ＩＦＥ，并着重对自适应谐振武中频均衡器的两种调节方法作了研究．模拟计算得到的ｓｉｇｎａｔｕｒｅ曲线表明，这种均衡器对非最小相位（ＭＭＰ）信道的传输性能有很大的改进，且两种调节法可达到相近的结果，如选择其中较简单的调节法，可以简化硬件结构．     

加权算术平均与几何平均关系式的新证法

利用函数极小点的性质,得到了若干个正数的加权算术平均与几何平均关系式的新证法