An H∞non‐fragile observer‐based adaptive sliding mode controller design for uncertain fractional‐order nonlinear systems with time delay and input nonlinearity

In this paper the problem of non‐fragile adaptive sliding mode observer design is addressed for a class of nonlinear fractional‐order time‐delay systems with uncertainties, external disturbance, exogenous noise, and input nonlinearity. An H_∞ observer‐based adaptive sliding mode control considering the non‐fragility of the observer is proposed for this system. The sufficient asymptotic stability conditions are derived in the form of linear matrix inequalities. It is proven that the sliding surface is reachable in finite time. An illustrative example is provided which corroborates the effectiveness of the theoretical results.     

无人机群目标搜索的主动感知方法

为提升蚁群搜索算法在规模大的栅格环境中对未知目标的搜索效率,提出基于蚁群算法的主动感知搜索框架。该框架通过应用历史环境信息来选择无人机的运动方式,并由无人机运动方式和感知域信息得到新的环境信息,从而实现无人机群的智能自动化搜索功能。新方法计算出一种具有探索偏好的未搜索概率,可使无人机搜索时偏向未搜索程度高的栅格,以此来提高算法的搜索能力。同时,以未搜索概率和信息素作为运动方式决策的依据来建立一种新的运动方式选择机制。该机制不仅考虑了目标可能出现的区域,又可兼顾未知区域,从而可实现无目标先验信息条件下的搜索过程。仿真结果表明,此算法在规模大的栅格环境中,与现有算法相比具有更高的搜索效率,并且得到的目标分布信息将更加全面。     

MIMO radar waveform design in the presence of clutter and colored noise

The existing MIMO radar waveform design methods only deal with the optimization of radar waveform with the presence of clutter or colored noise, and unfortunately can not get the optimal waveform with the scenario when the clutter and colored noise coexist, which is more realistic in practical applications. To address this problem, a novel MIMO radar waveform design method based on mutual information in the presence of clutter and colored noise is proposed. The proposed scheme considers the influence of the target's response, clutter and colored noise on the optimization of the radar waveform. The mathematical expression for the transmit waveform matrix is achieved by theoretical derivation. What is more important, an optimal pairing of the eigenvectors of the target, clutter and colored noise is given and the power allocation for each antenna is optimized by the water-filling method. Simulation results show that when the total transmit power is 10dB, the proposed method's MI is 8bit and 4bit more than that of the general water-filling method and the method which only considers the pairing of the target's response and noise, respectively.     

Anti-disturbance dynamic surface control scheme for a class of uncertain nonlinear systems with asymmetric dead-zone nonlinearity

This study proposes anti-disturbance dynamic surface control scheme for nonlinear strict-feedback systems subjected simultaneously to unknown asymmetric dead-zone nonlinearity, unmatched external disturbance and uncertain nonlinear dynamics. Radial basis function-neural network (RBF-NN) is invoked to approximate the uncertain dynamics of the system, and the dead-zone nonlinearity is represented as a time-varying system with a bounded disturbance. The nonlinear disturbance observer (NDO) is proposed to estimate the unmatched external disturbance which further will be used to compensate the effect of the disturbance. Then, by integrating RBF-NN, NDO and dynamic surface control (DSC) approaches, the proposed anti-disturbance control scheme is designed. Stability analysis of the closed-loop system shows that all signals of the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error can be made arbitrarily small by proper selection of the design parameters. In comparison with the existing methods, the proposed scheme deals with the unmatched external disturbance, uncertain dynamics and unknown asymmetric dead-zone nonlinearity, simultaneously; it avoids the "explosion of complexity" problem and develops the simple control law without singularity concern. Furthermore, some imposed assumptions to the dead-zone input and disturbances are relaxed. Simulation and comparison results verify the effectiveness of the proposed approach.     

基于准正交编码的MIMO空间光通信技术研究

由于自由空间光通信严重受到大气湍流引起的光强起伏,光束漂移等问题对通信性能的影响,本文研究了大气信道特性并分析了空时分组编码方案,采用MIMO技术提高自由空间光通信系统的性能。基于MIMO技术下的准正交编码方案不仅可以增强信道的抗衰落能力而且可以提供一定的分集增益和编码增益。在Matlab平台下使用蒙特卡罗模拟方法,对系统的信道容量和误码率进行数值研究。仿真结果表明:采用MIMO技术能够提高信道容量,有效改善误码性能,而且分集数越高,通信质量越好。     

H桥级联STATCOM自适应死区补偿方法

为消除死区效应对H桥级联静止同步补偿器(STATCOM)输出电压及电流的影响,提出一种新的死区补偿方法.根据离散扰动观测器的工作原理,设计相应的观测器,对由于死区效应引起的STATCOM输出电压与参考电压的差值进行实时在线观测,并将观测到的差值作为补偿量,引入到无差拍控制系统中,实现对死区的自适应补偿.仿真与实验结果表明,该方法可以有效地提高死区补偿效果,消除零点电流箝位现象,降低STATCOM输出电流的谐波含量.     

基于Linux的ARM与FPGA数据通信设计与实现

ARM与FPGA是目前应用于嵌入式开发的两款主要芯片,ARM偏向于控制领域,而FPGA偏向数据处理。为实现两者的协同工作以及数据通信,介绍了一种通信接口方案的设计与实现。在ARM上运行嵌入式Linux系统的情况下,将FPGA作为字符设备,对两者之间的接口进行驱动程序开发,包括数据总线驱动和GPIO控制驱动。用户应用程序通过调用驱动中定义好的操作函数,便可实现两者的数据通信。最后利用自定义的通信方案对接口进行测试,实现了ARM对FPGA设备的命令控制以及正确稳定的并行数据传输。     

两阶段链视角下河南省城市科技效率评价研究

建立两阶段链DEA模型,研究科技投入产出效率,由第一阶段科技创新和第二阶段科技应用组成。选取了2006~2013年共8年数据,对河南省城市科技投入产出进行评价分析,组成结果显示:(1)一些城市科技资源配置机制运行较差;(2)城市技术效率呈现以郑州为中心的偏高,其他城市较低,且其他城市与郑州市的科技效率差距较大。     

Effective model based fault detection scheme for rudder servo system

The inherent nonlinearities of the rudder servo system（RSS） and the unknown external disturbances bring great challenges to the practical application of fault detection technology. Modeling of whole rudder system is a challenging and difficult task. Quite often, models are too inaccurate, especially in transient stages. In model based fault detection, these inaccuracies might cause wrong actions. An effective approach, which combines nonlinear unknown input observer（NUIO） with an adaptive threshold, is proposed. NUIO can estimate the states of RSS asymptotically without any knowledge of external disturbance. An adaptive threshold is used for decision making which helps to reduce the influence of model uncertainty. Actuator and sensor faults that occur in RSS are considered both by simulation and experimental tests. The observer performance, robustness and fault detection capability are verified. Simulation and experimental results show that the proposed fault detection scheme is efficient and can be used for on-line fault detection.