Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot

Chattering in the control signal is a significant problem in sliding mode control (SMC). The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous SMC, a continuous feedback control law is employed in a boundary layer around the sliding surface. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy online tuning method to adjust the boundary layer thickness for the best system performance without chattering. The method features the measurement of the chattering in the control signal. The paper validates the performance of the algorithm by experiments on a direct drive robot with a range of different payloads.     

Adaptive sliding mode-like fuzzy logic control for nonlinear systems

Sliding mode-like fuzzy logic control （SMFC） algorithm for nonlinear systems is presented in this paper. Firstly dead zone parameters of sliding mode control （SMC） are selftuned by proper adaptive laws and then combined into fuzzy logic system （FLS） to compose the opportune fuzzy logic control （FLC）, which is equivalent to the predesigned SMC controller with self-tuning parameters. Robustness and invariance to the uncertainties of the closed-loop systems are improved and chattering of the SMC is eliminated. Finally simulation results of numerical examples show that the proposed control algorithm is efficient and feasible.     

Chinese-based research on subject-covered information retrieval supervised by textual semantic domain

By means of analysis of artificial intervention in ready-retrieved text, training set used to compare with new texts from large-scale real texts corpus is provided. It is based on the data-originated presentation of training set that a special formula to calculate semantic cohesion between new texts and training set is devised. The semantic cohesion of new text is the average value of semantic evaluation of all elements involved, and semantic evaluation of an element depends on its semantic relevance with the training set and on the semantic ratio of its domain to synonymous domain. In terms of empirical verification a conclusion is drawn that semantic cohesion is the key measurement standard of textual retrieval. Despite the advantages of textual retrieval, limitations of formula-raised condition and analyst＇s accomplishments make the analysis involved in this paper imperfect.     

Global sliding‐mode control with generalized sliding dynamics

A global sliding‐mode control (GSMC) scheme is proposed to provide a framework for ensuring the existence of a sliding mode throughout an entire response. Based on this framework, robust eigenvalue‐assignment GSMC (REA‐GSMC) is proposed to robustly assign closed‐loop eigenvalues that must be real. The eigenvalues being all real, however, leads to sluggish responses. According to most error criteria such as IAE, ISE, and ITAE, the optimum system should have complex eigenvalues. This paper proposes a GSMC scheme with generalized sliding dynamics, referred to as Generalized GSMC, in order to release the previous constraint on the REA‐GSMC. Thus, the Generalized GSMC can be designed to achieve a system that is both robust and optimum in the sense that it minimizes certain error performance indices in spite of the presence of system uncertainties. Experiments were conducted on a two‐link direct‐drive manipulator to demonstrate the effectiveness of the proposed scheme. Copyright © 2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects. Recommended by Editorial Board member Hyo-Choong Bang under the direction of Editor Hyun Seok Yang. This work was supported by the Korea Research Foundation Grant (MOEHRD) KRF-2005-204-D00002, the Korea Science and Engineering Foundation(KOSEF) grant funded by the Korea government(MOST) R0A-2007-000-10017-0 and Engineering Research Institute at Seoul National University. Daewon Lee received the B.S. degree in Mechanical and Aerospace Engineering from Seoul National University (SNU), Seoul, Korea, in 2005, where he is currently working toward a Ph.D. degree in Mechanical and Aerospace Engineering. He has been a member of the UAV research team at SNU since 2005. His research interests include applications of nonlinear control and vision-based control of UAV. H. Jin Kim received the B.S. degree from Korea Advanced Institute of Technology (KAIST) in 1995, and the M.S. and Ph.D. degrees in Mechanical Engineering from University of California, Berkeley in 1999 and 2001, respectively. From 2002–2004, she was a Postdoctoral Researcher and Lecturer in Electrical Engineering and Computer Science (EECS), University of California, Berkeley (UC Berkeley). From 2004–2009, she was an Assistant Professor in the School of in Mechanical and Aerospace Engineering at Seoul National University (SNU), Seoul, Korea, where she is currently an Associate Professor. Her research interests include applications of nonlinear control theory and artificial intelligence for robotics, motion planning algorithms. Shankar Sastry received the B.Tech. degree from the Indian Institute of Technology, Bombay, in 1977, and the M.S. degree in EECS, the M.A. degree in mathematics, and the Ph.D. degree in EECS from UC Berkeley, in 1979, 1980, and 1981, respectively. He is currently Dean of the College of Engineering at UC Berkeley. He was formerly the Director of the Center for Information Technology Research in the Interest of Society (CITRIS). He served as Chair of the EECS Department from January, 2001 through June 2004. In 2000, he served as Director of the Information Technology Office at DARPA. From 1996 to 1999, he was the Director of the Electronics Research Laboratory at Berkeley (an organized research unit on the Berkeley campus conducting research in computer sciences and all aspects of electrical engineering). He is the NEC Distinguished Professor of Electrical Engineering and Computer Sciences and holds faculty appointments in the Departments of Bioengineering, EECS and Mechanical Engineering. Prior to joining the EECS faculty in 1983 he was a Professor with the Massachusetts Institute of Technology (MIT), Cambridge. He is a member of the National Academy of Engineering and Fellow of the IEEE.     

A formal model of composing components: the TLA+ approach

In this paper, a method for writing composable TLA⁺ specifications that conform to the formal model called Masaccio is introduced. Specifications are organized in TLA⁺ modules that correspond to Masaccio components by means of a trace-based semantics. Hierarchical TLA⁺ specifications are built from atomic component specifications by parallel and serial composition that can be arbitrary nested. While the rule of parallel composition is a variation of the classical joint-action composition, the authors do not know about a reuse method for the TLA⁺ that systematically employs the presented kind of a serial composition. By combining these two composition rules and assuming only the noninterleaving synchronous mode of an execution, the concurrent, sequential, and timed compositionality is achieved.     

“数据库原理与应用”课程实践教学的改革与探索

"数据库原理与应用"的实践教学是该课程的一个重要教学环节,对提高教学质量和培养学生能力起着决定性的作用。本文论述了该课程在课堂教学、课程设计和课外活动指导三个方面所作的一些实践教学改革和探索,取得了较好的效果。     

计算机工程型人才培养模式的创新与实践

随着信息技术的快速发展和国民经济结构的战略性调整,本科高校计算机工程型人才培养必须面向市场和社会办学,通过与企业的紧密合作,探索并创新校企合作教育模式。合作教育模式是以本科教学为根基,以校企合作共建实践教学基地为载体,以共同组织教学和管理为手段,以实现学生就业和企业招聘到合格员工为目标,最终实现校企双赢。     

数字媒体综述及计算人才培养思路

本文参照电子商务的概述方式,对数字媒体进行了思考;分析了数字媒体与数字艺术的区别,讨论了为什么要研究数字媒体;总结了数字媒体特点、类型、起源和发展,提出进行数字媒体研究的方法;最后再参考IEEE的CC2005课程体系,提出了涵盖数字媒体的计算人才培养思路。     

动漫类课程艺术素养与技术能力培养途径探析

动漫类岗位需要很强的艺术素养和技能,才能对设计作品有较好的理解和体现。本文对动漫类课程中培养学生的艺术素养与技术能力的途径进行探讨,并对艺术素养与技术能力的综合素质训练及其体现方式进行分析。