随机模型的频域分析及辨识

本文证明了时间域内的平稳相关序列经离散傅里叶变换之后,听得到的是频域内的正交随机序列。因此,当系统的激励信号为确定性信号,而输出信号被平稳相关随机噪声所污染时,根据输入信号、输出信号的采样序列所得到的频率响应函数也是正交随机序列。利用方差的倒数加权进行最小二乘估计,可以得到系统连续模型参数的有效估计值。     

多变量控制系统频域分析和设计的综述

本文介绍了多变量系统频域分析和设计方法的一些最新发展。在系统分析方面,主要介绍特征轨迹(CL)方法和主增益、主相位的方法。在系统综合方面,主要介绍方向排列(alignment)技术,鲁棒性准则和逆结构正则化(RFN)补偿器,最后作者们对多变量系统分析和设计中的频域法的研究前景进行了展望。     

SLIDING MODE CONTROL SYNTHESIS OF UNCERTAIN TIME‐DELAY SYSTEMS

Sliding mode control synthesis is developed for a class of uncertain time‐delay systems with nonlinear disturbances and unknown delay values whose unperturbed dynamics is linear. The synthesis is based on a new delay‐dependent stability criterion. The controller constructed proves to be robust against sufficiently small delay variations and external disturbances. An admissible upperbound such that the corresponding closedloop system remains globally asymptotically stable for each delay value less than this up‐perbound is derived. Performance issues of the controller are illustrated in a simulation study.     

SLIDING SURFACE MATCHED CONDITION IN SLIDING MODE CONTROL

In this paper, the recently developed sliding surface matching condition (SSMC) is viewed from a new point that the mismatched uncertain term should satisfy the minimum‐phase condition for the nominal system. With this new viewpoint, SSMC is extended to a more general class of system with nonlinear uncertainties. Finally, a numerical example demonstrates the developed results.     

机器人滑模轨迹跟踪控制研究

传统的机器人滑模控制通常采用线性PD滑模和等速趋近率．本文基于指数趋近率并 采用PD+PID滑模策略进行机器人轨迹跟踪控制,即首先采用PD滑模,在达到该滑模后,再采 用PID滑模,取得了很好的效果,文章还对各种饱和函数减少抖振的效果进行了比较．     

基于滑模产生条件的模糊滑模控制及其稳定性分析

通过将表示滑模运动特征的代数值作为模糊系 统的一维输入，本文简化了模糊滑模控制的系统 结构，从根本上消除了规则的组合爆炸， 并针对一类特定系统进行了稳定性分析．PM同步电机位置伺 服控制的仿真表明了这种控制 算法的有效性和简便性．     

自适应模糊滑模控制器的设计与分析

研究一类非线性系统的自适应模糊控制问题,根据滑模控制原理并利用I型模糊系统的逼近能力,提出了一种自适应模糊滑模控制器的设计方案.通过理论分析,证明了闭环模糊控制系统的全局稳定的,跟踪误差可收敛到零的一个领域内.     

用滑动模态实现一类非完整动力学系统的指数镇定

对于基变量具有对称性的一类确定非完整动力学系统,直接基于该系统模型,利用滑动模态的方法设计了指数镇定控制器,得到了状态空间中的一个区域.当系统初始状态位于该区域内时,系统状态是指数收敛的,而当初始状态不在该区域内时,可用非零的开环常值控制使系统状态在有限时间内进入这一区域.因此,它是一种简洁的全局镇定律.最后,用仿真结果验证了这一方法的有效性.     

SLIDING MODE PREDICTION TRACKING CONTROL DESIGN FOR UNCERTAIN SYSTEMS

In this paper, a tracking control algorithm based on sliding mode prediction for a class of discrete‐time uncertain systems is presented. By creating a special model to predict the future sliding mode function value and by combining feedback correction and receding horizon optimization approaches, which are extensively applied in predictive control strategy, a discrete‐time sliding mode control law for tracking problem is constructed. With the designed control law, closed‐loop systems have strong robustness to matched or unmatched uncertainties as they eliminate chattering. Besides, in the robustness analysis, the boundary condition for uncertainties, which is a universal presupposition in sliding mode control method, is not required. Numerical simulation and cart‐pendulum experiment results illustrate the validity of the proposed algorithm.     

“灵活”的滑动窗口算法及其计算量的估计

通过对预存储空间的充分利用,首先给出了一种"灵活"的滑动窗口算法,然后对该算法所涉及的整数表示方法的汉明重量进行了仔细的估计.通过与原有滑动窗口算法、m-ary算法的平均模乘次数的比较,最后得出"灵活"的滑动窗口算法在基本保持原有滑动窗口算法计算复杂度的同时,克服了原有算法中对预存储空间的限制.     

ESTIMATION OF AMPLITUDE OF OSCILLATIONS IN SLIDING MODE SYSTEMS CAUSED BY TIME DELAY

Time delay does not allow realizing ideal sliding mode but implies oscillations in the state variable space. An estimation technique is developed for an upper bound of oscillation amplitude induced by bounded uncertain time delay presence.     

SLIDING MODES, Δ‐MODULATORS,AND GENERALIZED PROPORTIONAL INTEGRAL CONTROL OF LINEAR SYSTEMS

In this article, we attempt a reapproachment between sliding mode control of linear systems and classical control through the possibilities of evading state measurements and circumventing the use of asymptotic state observers in the sliding surface synthesis. This is shown to be possible thanks to the use of integral state reconstructors combined with iterated integral output error compensation. The proposed scheme is also robust with respect to unmatched perturbation inputs. A connection between sliding modes and classical analog Δ‐modulators, and their natural generalization, is also brought to attention as a tool for the realization of integral reconstructor based sliding mode control schemes.     

ROBUSTNESS ANALYSIS ON SLIDING MODE CONTROL OF INDUCTION MOTOR

The aim of this paper is to establish that flux‐speed sliding mode control of induction machine is robust in the presence of saturation of magnetic core and rising resistance effects. Further, we show how to select the free control design parameters in order to maintain sliding mode regime. Simulation results are given to point out the good performances and the robustness of the studied control system. These simulations results are performed in the presence of hard disturbances represented by increasing of rotor resistances (by an amount 100%), and by decreasing stator and rotor inductance (respectively by an amount 25% and 50%)     

高速以太网技术和交换式以太网技术剖析

高速以太网和交换式以太网技术是解决传统以太网的带宽危机的两项重要技术。本文中，首先对高速以太网和交换式以太网技术进行了深入，全面地分析，最后，针对结合这两项技术的产品ＦａｓｔＳｗｉｔｃｈ１０／１００利用对等通信性能的测试程序，对这现代项技术所带来的性能改进进行了定量分析。     

控制模态转移型系统的稳定切换

离散事件决策子系统和数值反馈子系统合成的混合控制系统呈现出复杂的稳定动态特性.研究了在达到模态切换周期的控制规则下,相应的系统连续状态轨迹的平稳性.给出了具有较少约束的李雅谱诺夫型判据,不要求全局一致的李雅谱诺夫函数,不要求每个模态下的能量函数单调递减.     

基于模态的柔性机器人协调操作系统的动力学分析

目前，对于柔性机器人协调操作动力学问题的研究已经取得了一定的研究成果，但 是这些研究大多采用有限元法来建立动力学模型，很难将这种模型应用到实际的控制中．本 文利用假设模态法和Lagrange方程，建立了柔性机器人协调操作系统的动力学方程，并给出 平面两3R柔性机器人协调操作刚性负载完成目标运动规划任务的数值仿真算例，从而验证本 方法的可行性和正确性．     

OPTIMAL AND ROBUST SLIDING MODE CONTROL FOR LINEAR SYSTEMS WITH MULTIPLE TIME DELAYS IN CONTROL INPUT

This paper presents the optimal regulator for a linear system with multiple time delays in control input and a quadratic criterion. The optimal regulator equations are obtained using the duality principle, which is applied to the optimal filter for linear systems with multiple time delays in observations. Performance of the obtained optimal regulator is verified in the illustrative example against the best linear regulator available for linear systems without delays. Simulation graphs and comparison tables demonstrating better performance of the obtained optimal regulator are included. The paper then presents a robustification algorithm for the obtained optimal regulator based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design are modified to yield the basic control algorithm oriented to time‐delay systems, which is then applied to robustify the optimal regulator. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. The obtained robust control algorithm is verified by simulations in the illustrative example.     

MODEL‐REFERENCE OUTPUT‐FEEDBACK SLIDING MODE CONTROLLER FOR A CLASS OF MULTIVARIABLE NONLINEAR SYSTEMS

This paper proposes an output‐feedback sliding mode control design for a class of uncertain multivariable plants with nonlinear disturbances. The approach used here is based on the control parameterization employed in model‐reference adaptive control. The disturbances are allowed to be unmatched and to depend not only on the plant output but also on its unmeas‐urable state. A less restrictive condition on the uncertainty of the high frequency gain matrix is also obtained.     

滑动窗口协议分析及其在微机上的模拟实现

阐述了滑动窗口的概念及模型。首重分析了滑动窗口协议和差错控制的策略,最后给出模拟后退Ｎ连续ＡＲＱ的滑窗协议和选择重发连续ＡＲＱ滑窗协议的程序计算结果及其分析。