Euler－Bernoulli梁的反馈镇定

讨论端点带负荷的Ｂｅｒｎｏｕｌｌｉ梁的横向振动的控制问题．分析了系统的谱结构，提出一种非线性边界反馈来镇定梁的横向振动，并证明了相应的闭环系统的渐近稳定性，最后给出了一些数值模拟结果．     

同时镇定问题研究

基于互质分解的状态空间描述，首先得到了可同阶强镇定的充要条件，并给出了一种同阶强定控制器的构造方法，本文证明了２对象同时强镇定可转化为同时强镇定－辅助对象与它的子对象，同阶同时强全２对象等价于同时强镇定一个辅助对象与它的一稳定子对象，同时镇定ｒ＋１个对象等价同时强镇定ｒ－１辅助对象它们的一公共子对象。     

RULE-BASED STABILIZATION OF THE INVERTED PENDULUM

The inverted pendulum poses serious problems for qualitative modeling methods, so it is a good benchmark to lest their performance. This paper shows how a new data analysis method known as rough set theory can be utilized to swing up and stabilize the pendulum. Our approach to this task consists of deriving control rules from the actions of a human operator stabilizing the pendulum and subsequently using them for automatic control. Rule derivation is based on the "learning from examples" principle and does not require knowledge of a quantitative model of the system.     

OBSERVER-BASED STABILIZATION OF SYSTEMS WITH MONOTONIC NONLINEARITIES

We design an observer-based control law for a class of systems that include monotonic nonlinearities of the unmeasured states. Our observer results in nonlinear error dynamics which can be represented as the feedback interconnection of a linear system and a time-verying multivariable sector nonlinearity. The convergence of the estimation error is guaranteed by an observer matrix that renders the linear part passive, and is computable with LMI software. The feedback design is completed by combining the observer with a control law that renders the plant input-to-state stable with respect to the state estimation error.     

FEEDBACK STABILIZATION OF NONHOLONOMIC CONTROL SYSTEMS WITH DRIFT

This paper presents a differential geometric approach for feedback stabilization of nonholonomic control systems with drift and its applicability is tested on two different systems possessing different algebraic structures: a system with six state variables and three controls, and a knife edge example. The approach is universal in the sense that it is independent of the vector fields determining the motion of the system, or of the choice of a Lyapunov function. The proposed feedback law is as a composition of a standard stabilizing feedback control for a Lie bracket extension of the original system and a periodic continuation of a specific solution to an open loop control problem stated for an abstract equation on a Lie group, an equation which describes the evolution of flows of both the original and extended systems. The open loop problem is solved as a trajectory interception problem in logarithmic coordinates of flows.     

多个系统同时稳定：一种映射方法

本文研究了多个ＳＩＳＯ系统同时稳定的问题。到目前为止，当系统个数≥３时，人们还没有提出任何可行的补偿器设计方法。在本文中，我们利用保形映射及Ｎｅｖａｎｌｉｎｎａ－Ｐｉｃｋ插值定理得到了一个使多个系统（系统个数≥３）同时稳定的充分条件及补偿器设计方法。     

一类不确定非完整动力学系统的时变镇定

对于一类具有未知惯性参数的非完整动力学系统,提出了新的时变自适应镇定律,将其用于一类移动机器人的位姿镇定中．仿真结果验证了所提控制方法的有效性．     

移动小车的路径跟踪与镇定

本文讨论受非完整约束限制的移动小车的几何路径跟踪与镇定问题，给出了小车以恒定速度跟踪任意期望几何路径的控制律，证明了小车的实际运动路径渐近收敛于期望的路径。文中还讨论了小车的镇定问题，给出了小车从任意初始位置和姿态到达另一位置和姿态的控制方案，最后给出了仿真结果。     

时滞不确定系统的鲁律性分析

此文利用解的估计方法和比较定理，研究了线性时滞不确定系统的鲁棒性问题，得到了用状态反馈来镇定这类系统的充分条件，并给出了此类系统具有任意希望的鲁棒性条件．     

A NOTE ON ROBUST STABILIZATION OF FEEDBACK LINEARIZABLE SYSTEMS

The problem of robust stabilization of nonlinear systems with feedback linearizable nominal part and norm-bounded nonlinear uncertainties is investigated. Necessary and sufficient conditions are obtained for robust stabilization of such systems. A design procedure is developed which combines feedback linearization technique and quadratic stabilization via linear feedback to achieve robust global asymptotic stability. © 1997 by John Wiley & Sons, Ltd.     

关于最小分散镇定结构的研究

本文考察线性时不变多变量系统的分散镇定问题,揭示了局部控制站间的通信与消除固定模间的内在联系,并由此把求最小(最经济)分散可镇定结构问题转化成一个显式的特殊0-1规划问题,导出了一种求最小分散可镇定结构的有效算法。     

STABILIZATION OF A CLASS OF NONLINEAR NON‐MINIMUM PHASE SYSTEMS

This paper tackles the problem of stabilization of a class of non‐minimum phase nonlinear systems which have zero dynamics with an eigenvalue zero of multiplicity 2. By adding some new terms, called cross terms, we are able to generalize the concept of the Lyapunov function with a homogeneous derivative along the trajectory, which was introduced in [4], to produce a suitable Lyapunov function. The Lyapunov function assures that the stability of an approximate system, which consists of some lower order terms of a nonlinear system with an eigenvalue zero of multiplicity 2, implies the stability of the whole system. Applying these to non‐minimum phase zero dynamics of nonlinear systems with such a center, a sufficient condition and a design method of state feedback control are obtained for stabilizing the systems.     

ROBUST STABILIZATION OF A CLASS OF UNCERTAIN TIME DELAY SYSTEMS IN SLIDING MODE

This paper addresses the problem of robust stabilization of a class of uncertain systems subject to internal (i.e., in the state) point delays, external (i.e., in the input) point delays and nonlinear disturbances by using sliding mode control. Methods for the design of sliding mode controllers based on state feedback, static output feedback and dynamic output feedback, respectively, are proposed. Sufficient conditions for the asymptotic stability and robustnesss of the closed–loop systems are given under a wide class of admissible nonlinear disturbances. © 1997 by John Wiley & Sons, Ltd.     

ON THE LYAPUNOV APPROACH TO ROBUST STABILIZATION OF UNCERTAIN NONLINEAR SYSTEMS

In the Lyapunov approach employed in this paper, known in the literature as Lyapunov control, or min-max control, robust, global uniform asymptotic stability is achieved by a discontinuous control law which ensures that the Lyapunov derivative is negative despite bounded uncertainty. For that, it is assumed that the uncertainties satisfy certain matching conditions, and that a Lyapunov function for the nominal plant is available. To obtain lower control magnitudes, this paper develops control laws which counter the uncertainties on a component-wise basis, rather than the usual normic one. Both the basic discontinuous control law, which is proved to provide robust global uniform asymptotic stability, and a continuous app roximation, which is proved to ensure global uniform ultimate boundedness, are derived. Application to model following is given. We adapt recent results on robust quadratic stabilization of nominally linear time-invariant plants subjected to nonlinear, bo unded and unmatched uncertain perturbations, to extend our results to this important class of systems; this is illustrated by two examples.     

通信协议的全局状态算法及自稳定性

本文主要研讨了一类适应于通信协议的全局状态算法及协议的自稳定性。文中先论述了一种适应于协议全局状态的基本算法，讨论了该算法对全局状态的适用性及对协议自稳定性的局限性；然后论述了一种增强算法，该算法不仅适用于协议的全局状态，而且适用于增强协议的自稳定性，文中给出了该增强算法的正确性证明及复杂性分析，并通过协议实例验证了该算法的可用性及有效性。     

奇异系统的输出稳定化通过一般状态反馈的可解性

讨论了奇异系统的输出稳定化问题，得到了在初始值为容许且不保证闭环正则的情形下，通过一般状态反馈求解此问题的充要条件及计算步骤     

计算机在热分析动力学参数计算中的应用

本文给出了用于化学、化工等量热过程中的热分析动力学参数计算专业的关键技术。为方便最可几机理函数的推断。特别提出并引入了可信因子排序概念。这个Windows环境下的应用系统集原始数据输入与编辑、曲线拟合与修正、多种热动力学模型下的参数计算、标准函数图谱放样、数据处理结果打印、曲线图生成打印等功能为一体,已应用于热分析动力学参数计算过程,效果良好。     

基于Profibus的激光加载热疲劳实验控制系统

采用激光作为活塞热疲劳模拟实验的热源。为模拟活塞上表面的温度波动,设计了基于Profibus的实验控制系统,对激光器的开启、关闭及输出功率进行控制。实验结果表明,该系统实现了活塞热疲劳实验的设计要求,具有实验周期短、可靠性高等优点。