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Fixed point theorem-based iterative learning control for LTV systems with input singularity 总被引:1,自引:0,他引:1
In this paper, we address a challenging and open problem: how to design a suitable iterative learning control (ILC) system in the presence of input singularity, which is incurred by the singularities of the system direct feed-through term. Considering two typical types of input singularities, we first revise the ILC operators accordingly by adding a forgetting factor and incorporating a time-varying learning gain, in the sequel guarantee ILC operators to be contractible. Next, using the Banach fixed-point theorem, we demonstrate that the output sequence can either enter and remains ultimately in a designated neighborhood of the target trajectory, or is bounded by a class K function. Finally, an illustrative example is presented. 相似文献
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Summary Novel hyperbranched copolymers were successfully synthesized by the controlled charge transfer complex inimer and living radical copolymerization of p-(chloromethyl)styrene (PCMS) and acrylonitrile (AN). The resulting copolymers were characterized by SEC, NMR, FTIR, DSC and elemental analysis etc.. The influences of reaction conditions, such as the polymerization temperature, the catalyst (CuBr) concentration and the monomer ratio, on the resulting copolymers were investigated in detail. The monomer reactivity ratios were evaluated to be rPCMS=0.937 and rAN=0.088 respectively by the Fineman-Ross method. The higher are the polymerization temperature and the ratio of catalyst to monomer, the higher is the branching degree of the resulting copolymer. When the amount of monomer AN was used in excess than that of the monomer PCMS in the raw feed, the hyperbranched predominantly alternating copolymers HP[PCMS-co-AN] could be obtained. These hyperbranched copolymers were successfully used as functional macroinitiators to synthesize the star-shaped poly(PCMS-co-AN)/poly(MMA) block copolymers. 相似文献
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In this article, a new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The complete map of the workspace including obstacle locations is assumed to be known a priori. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented. © 1994 John Wiley & Sons, Inc. 相似文献
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实现水电厂电量快速微机巡回检测,温度采集较其它信号更为困难,本文着重讨论温度信号转换及与微机系统的连接。且介绍某水电厂微机控系统中非电量检测装置的硬件结构和软件编制。 相似文献
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Two free and one silylated (silane-substituted) photochromic spirooxazines are doped into organically modified ceramics (Ormocer) coatings by sol-gel processing and the thermal decoloration kinetics of these coatings are investigated and compared with the corresponding ethanol solutions and PMMA coatings. The decoloration behaviour of the two free dyes (SO-1 and SO-2) in the Ormocer coatings is similar to that in ethanol solutions, obeying a first-order mechanism and possessing almost the same decoloration rates as in ethanol. This suggests that the dye molecules encapsulated within the pores of the solid matrix are as free as those in ethanol solutions. The silylated dye (SO-3) in the Ormocer coatings, however, exhibits a considerably lower decoloration rate than the corresponding free dye (SO-1) and evident deviation from the first-order mechanism. This indicates apparently that the degree of freedom of the dye molecules is reduced by the silylation. These results are discussed on the basis of solvent polarity, porous structure of the Ormocer coating, and the dye-to-matrix connectivity. 相似文献
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