机器人系统有限时间自适应迭代学习控制

研究任意初态下，机器人系统的有限时间自适应迭代学习控制方法。引入初始修正吸引子的概念，构造一个含有初始修正项的误差变量。针对定常机器人系统和时变机器人系统，采用Lyapunov-like方法，分别设计迭代学习控制器处理系统中不确定性。并且，采用未含/含限幅学习机制，保证闭环系统各变量的一致有界性和误差变量在整个作业区间一致收敛性。藉以实现跟踪误差在预先指定区间的完全跟踪。仿真结果验证所设计控制方法的有效性。     

基于WMRA的隔震结构时变非线性参数识别

基于小波多分辨率分析(wavelet multi-resolution analysis,简称WMRA)理论,建立结构时变非线性参数识别方法,研究隔震结构在地震作用下表现出来的时变非线性力学行为。首先,以描述隔震支座的迟滞非线性Boucwen模型为研究对象,引入3阶有效数值差分技术,将运动方程中非线性模型的恢复力增量进行线性化,形成递推观测方程;其次,基于WMRA理论,将观测方程中每一待识别参数采用小波多分辨率展开,将模型参数识别问题转化成多元线性回归模型中小波重构系数的估计问题;最后,分别采用数值模拟、串联隔震体系(serial seismic isolation system,简称SIS)振动台试验测试数据,识别结构及隔震层参数随时间的演化规律,验证该识别方法的正确性和适用性,为隔震结构在施工、运营期各阶段状态评估提供一定参考。     

高速率通信网络下时变系统的有限时域H∞控制

针对高速率通信网络和Round-Robin（RR）协议影响下网络化时变系统的有限时域[H∞]控制问题，考虑到系统中存在乘性噪声、随机时滞和量化效应，提出了一种基于观测器的有限时域[H∞]控制器的设计方法。利用李雅普诺夫稳定性理论和线性矩阵不等式（Linear Matrix Inequality，LMI）技术得到有限时域[H∞]控制器存在的充分条件。基于锥补线性化（Cone Complementarity Linearization，CCL）方法通过求解一组递归矩阵不等式得到观测器和控制器参数。所设计的控制器保证闭环网络化时变系统在给定的时域内稳定，且满足预定的[H∞]性能指标。数值仿真验证了所提方法的有效性。     

Full and reduced-order H∞ filtering of Takagi–Sugeno fuzzy time-varying delay systems: Input–output approach

This article addresses the issue of delay-dependent H_∞ filtering design for TakagiŮSugeno fuzzy time-varying delay systems using the input–output approach. A three-term approximation model has been used to transform the original system into two interconnected subsystems. Since the nonquadratic Lyapunov–Krasovskii functional requires to deal with the membership function's (MF) time derivative, upper-bound inequalities have been added to the obtained conditions. Based on the scaled small gain theorem, nonquadratic Lyapunov–Krasovskii functional approach and considering the bounds of the MF time-derivative, the H_∞ full- and reduced-order filters are designed and then formulated in terms of linear matrix inequalities. Finally, illustrative examples are presented to demonstrate the validity of the proposed methods.     

黄浦江下游吴淞口站低潮位重现期研究

黄浦江为感潮河流,低潮位重现期的确定对黄浦江航道的设计具有重要意义。为了准确估计黄浦江低潮位的重现期,以黄浦江下游吴淞口站年最低潮位序列为例,在对样本进行三性审查的基础上,分别采用传统的数理统计方法和时变矩方法进行水文频率分析。结果表明:吴淞口站年最低潮位序列在1996年发生了变异;还现修正后的序列服从位置参数线性时变的GEV模型,低潮位存在缓慢的上升趋势;一致性条件下百年一遇低潮位约为0.261 m,在非一致性条件下其重现期增大为150 a。非一致性条件下的重现期增大说明黄浦江现有的航道设计标准偏安全,航道通航保证率提高。     

采用信息增益率的混合入侵检测模型设计

针对现有混合入侵检测模型仅定性选取特征而导致检测精度较低的问题，同时为了充分结合误用检测模型和异常检测模型的优势，提出一种采用信息增益率的混合入侵检测模型.首先，利用信息增益率定量地选择特征子集，最大程度地保留样本信息；其次，采用余弦时变粒子群算法确定支持向量机参数构建误用检测模型，使其更好地平衡粒子在全局和局部的搜索能力，然后，选取灰狼算法确定单类支持向量机参数构建异常检测模型，以此来提高对最优参数的搜索效率和精细程度，综合提高混合入侵检测模型对攻击的检测效果；最后，通过两种数据集进行仿真实验，验证了所提混合入侵检测模型具有较好的检测性能.     

具有双通道数据包丢失的Delta算子系统故障检测

研究同时存在双通道数据包丢失和时变时延的Delta算子网络控制系统（NCSs）故障检测问题.假定数据包丢失发生在控制器到执行器、传感器至控制器的数据传输过程中，并且利用两个相互独立的伯努利随机变量描述是否发生丢包.将上述的NCSs建模为网络切换系统，提出任意切换律下故障检测滤波器的设计方法.利用线性矩阵不等式（LMIs）方法、Lyapunov-Krasovskii泛函和平均驻留时间等得出所考虑的网络切换系统具备指数均方稳定性的充分条件.证明了所用的网络切换系统满足H_∞性能，并推导出了滤波器参数的显式表达.数值仿真结果验证了所提方法的有效性.     

基于EVSEWT的下击暴流时变平均风提取

下击暴流等极端风具有强烈的非平稳特性，给风场特性分析、结构响应计算带来挑战。根据经验将非平稳风分为时变平均风和零均值脉动风分别进行分析，是处理非平稳风速信号的有效方法。分析了几种常见时变均值提取方法的优缺点，在此基础上提出一种基于能量波谷寻找的经验小波变换方法，用于下击暴流时变平均风速提取，并将提取的时变平均风和脉动风用于分析某幢高层建筑顶部位移响应。对2组下击暴流的分析结果得出：与经验模态分解和离散小波变换方法相比，基于能量波谷寻找的经验小波变换方法模型提取的时变平均风更符合预期，对应的结构响应偏于安全。     

Adaptive control of pure-feedback nonlinear systems with full-state time-varying constraints and unmodeled dynamics

This paper focuses on the problem of adaptive control for a class of pure-feedback nonlinear systems with full-state time-varying constraints and unmodeled dynamics. By introducing a one-to-one nonlinear mapping, the constrained pure-feedback nonlinear system with state and input unmodeled dynamics is transformed into unconstrained pure-feedback system. The controller design based on the transformed novel system is proposed by using a modified dynamic surface control method. Dynamic signal and normalization signal are designed to handle dynamical uncertain terms and input unmodeled dynamics, respectively. By adding nonnegative normalization signal into the whole Lyapunov function and using the introducing compact set in the stability analysis, all signals in the whole system are proved to be semiglobally uniformly ultimately bounded, and all states can obey the time-varying constraint conditions. A numerical example is provided to demonstrate the effectiveness of the proposed approach.     

The minimization of voltage sag effect for specially connected transformers with a sensitive load and distributed generation systems

This paper improves the voltage sag for a distributed generation (DG) system with three-phase to two-phase connected transformers. The proposed connection system is compared with the systems designed by Scott and Le Blanc. A particle swarm optimization method with nonlinear time-varying evolution (PSO-NTVE) is used to determine the design values. This analysis considers sensitive loads and the coordination of over-current relays. The model uses a node admittance matrix for voltage sag calculation, in order to calculate the severity of system sag after single or two-phase faults. The analytical equations are useful in the mathematical optimal planning method. The PSO-NTVE is then used to derive suitable transformer impedances and relay time multiplier parameter values. The search for a global optimal solution for the voltage sag problems involves tests on the Scott and Le Blanc connected transformer power systems, in order to verify the effectiveness of the proposed method. Finally, the results show that the severity of the voltage sag is reduced by tuning the transformer impedances and relay settings.