Gain‐scheduled dynamic output feedback control for discrete‐time LPV systems

This paper presents synthesis conditions for the design of gain‐scheduled dynamic output feedback controllers for discrete‐time linear parameter‐varying systems. The state‐space matrix representation of the plant and of the controller can have a homogeneous polynomial dependency of arbitrary degree on the scheduling parameter. As an immediate extension, conditions for the synthesis of a multiobjective ??_∞ and ??₂ gain‐scheduled dynamic feedback controller are also provided. The scheduling parameters vary inside a polytope and are assumed to be a priori unknown, but measured in real‐time. If bounds on the rate of parameter variation are known, they can be taken into account, providing less conservative results. The geometric properties of the uncertainty domain are exploited to derive finite sets of linear matrix inequalities based on the existence of a homogeneous polynomially parameter‐dependent Lyapunov function. An application of the control design to a realistic engineering problem illustrates the benefits of the proposed approach. Copyright © 2011 John Wiley & Sons, Ltd.     

Positive state‐bounding observer for positive interval continuous‐time systems with time delay

This paper is concerned with the problem of positive observer synthesis for positive systems with both interval parameter uncertainties and time delay. Conventional observers may no longer be applicable for such kind of systems due to the positivity constraint on the observers, and they only provide an estimate of the system state in an asymptotic way. A pair of positive observers with state‐bounding feature is proposed to estimate the state of positive systems at all times in this paper. A necessary and sufficient condition for the existence of desired observers is first established, and the observer matrices can be obtained easily through the solutions of a set of linear matrix inequalities (LMIs). Then, to reduce the error signal between the system state and its estimates, an iterative LMI algorithm is developed to compute the optimized state‐bounding observer matrices. Finally, a numerical example is presented to show the effectiveness and applicability of the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.     

Theory of edge perception for computer vision feedback control

In this paper, the authors address the problem of edge-perception for its applications to vision-feedback control in robotic systems.In natural vision, the recognition of objects takes place through the process consisting of eye system, neural networks and cognition. The cognitive process, in turn yields a phenomenon known as perception. This is the phenomenon of perception of physical attributes, such as edges, color and texture, etc., which is responsible for the recognition of objects through the natural vision processes.In this paper, we make an attempt to postulate the theory of perception for gray-level images. The gray-level images, when going through the cognitive and perception processes, are contaminated by the uncertainty; here we call it cognitive uncertainty.The studies in this paper are confined to the phenomenon of edge-perception for two-dimensional gray-level images, however, these studies can be extended to other types of visual attributes both in two-dimensional and three-dimensional spaces. Indeed, the perception of these attributes, which attempts to emulate the human vision system, may help in the design of a truly robust computer vision-feedback control system for robotic applications.     

Polynomial approximation of functions of matrices and applications

In solving a mathematical problem numerically, we frequently need to operate on a vector by an operator that can be expressed asf(A), whereA is anN ×N matrix [e.g., exp(A), sin(A), A^–-]. Except for very simple matrices, it is impractical to construct the matrixf (A) explicitly. Usually an approximation to it is used. This paper develops an algorithm based upon a polynomial approximation tof (A). First the problem is reduced to a problem of approximatingf (z) by a polynomial in z, where z belongs to a domainD in the complex plane that includes all the eigenvalues ofA. This approximation problem is treated by interpolatingf (z) in a certain set of points that is known to have some maximal properties. The approximation thus achieved is almost best. Implementing the algorithm to some practical problems is described. Since a solution to a linear systemAx=b isx=A ^–1 b, an iterative solution algorithm can be based upon a polynomial approximation tof (A)=A ^–1. We give special attention to this important problem.     

基于压缩感知的无线传感器网络的数据编码

近年来,基于压缩感知的无线传感器网络数据编码的研究取得了一定的进展,但大部分研究是基于"单跳"的传输模型或者没有考虑网络内节点之间的合作。本文提出了一种基于压缩感知和分簇的传感器网络数据编码方法。首先,节点根据自己的编号伪随机的产生一个M维的列向量,把感知的数据xi投影到此向量上,然后把自己的编号和投影的数据一同传输给簇头。簇头把收到的数据进行求和,并且把计算后的结果传送给下一个簇头,直到sink节点。通过仿真实验和理论分析,验证了本文提出的方法比传统的方法能更好地减少网络内数据传输量。     

Study on diffusion welding SiCp/ZL101 with Cu interlayer

Through the vacuum diffusion welding SiCp/ZL101 aluminum with Cu interlayer,the effect of welding parame-ter and the thickness of Cu on the welded joint property was investigated,and the optimal welding parameters were putforward at the same time.The microstructure of joint was analyzed by means of optical-microscope,scanning electron mi-croscope in order to study the relationship between the macro-properties of joint and the microstructure.The results showthat diffusion welding with Cu interlayer could be used for welding aluminum matrix composites SiCp/ZL101 successfully.     

电动车制动能量再生反馈控制研究

研究了电动汽车制动过程中的能量回馈，设计了混合励磁无刷电动机在汽车制动过程的能量再生反馈控制系统。以脉宽调制调压调速系统为例，研究各种制动态下的能量回馈过程。并将其安装在EV6600电动汽车上进行试验，结果表明：该控制系统可达到10%左右的能量回收效率。     

一种新的动态权重更新相关反馈方法*

提出了正负相关图像所占比例与特征值的标准方差相结合来调整对应权值的方法.为了避免相关反馈的权值调整陷入局部最优状态,引入一个干扰因子,使权值跳出局部最优区域.结果表明了该方法的优越性.     

Influence of the composition of the binder and the carbonation on the zeta potential values of hardened cementitious materials

Electroosmotic experiments have been carried out on eight different mixes of hardened cementitious matrixes including concrete, mortar and pastes, different types of binders, carbonated and non-carbonated specimens and different test conditions. From these trials, the zeta potential values have been determined and the optimum experimental parameters and devices have been established. In addition, the influence of the composition of the binder on the zeta potential has been quantified indicating that higher amounts of Al₂O₃ in the binder lead to higher positive values of zeta potential, while the SiO₂ acts just on the opposite side. This has been explained in terms of the different i.e.p. (isoelectric point) for both oxides. Concerning the influence of carbonation, it increases the absolute value of the zeta potential toward more negative values; this behaviour has been attributed to the influence of the specifically adsorbed Ca²⁺ in the negative sites of the surface in the non-carbonated samples.     

Decentralized observers with consensus filters for distributed discrete-time linear systems

This paper presents a decentralized observer with a consensus filter for the state observation of discrete-time linear distributed systems. Each agent in the distributed system has an observer with a model of the plant that utilizes the set of locally available measurements, which may not make the full plant state detectable. This lack of detectability is overcome by utilizing a consensus filter that blends the state estimate of each agent with its neighbors’ estimates. It is proven that the state estimates of the proposed observer exponentially converge to the actual plant states under arbitrarily changing, but connected, communication and pseudo-connected sensing graph topologies. Except these connectivity properties, full knowledge of the sensing and communication graphs is not needed at the design time. As a byproduct, we obtained a result on the location of eigenvalues, i.e., the spectrum, of the Laplacian for a family of graphs with self-loops.